基于ROS的移动机器人SLAM算法研究  

Research on SLAM algorithm of mobile robot based on ROS

作　　者：牛飞 李燕玲[1] 王超 NIU Fei;LI Yanling;WANG Chao(College of Artificial Intelligence,Baoding University,Baoding,Hebei 071000,China)

机构地区：[1]保定学院人工智能学院,河北保定071000

出　　处：《计算机应用文摘》2024年第23期122-124,127,共4页

摘　　要：随着移动机器人的应用日益广泛,即时定位与地图构建(SLAM)技术成为当前的研究热点。文章分析了Gmapping与HectorSLAM算法的理论基础,通过ROS中的仿真工具对2种算法的建图质量进行了对比。仿真结果表明,在一定速度范围内,移动机器人通过Gmapping算法的建图质量较好,而使用HectorSLAM算法的建图质量则会随着机器人速度的增加而降低。With the increasingly widespread application of mobile robots,real-time localization and map construction(SLAM)technology has become a current research hotspot.The article analyzes the theoretical basis of Gmapping and Hector SLAM algorithms,and compares the mapping quality of the two algorithms through simulation tools in ROS.The simulation results show that within a certain speed range,the mapping quality of mobile robots using Gmapping algorithm is good,while the mapping quality using Hector SLAM algorithm will decrease with the increase of robot speed.

关 键 词：移动机器人 SLAM Gmapping HectorSLAM 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]