Abstract
This paper focuses on the influence of two important parameters of Gmapping algorithm on the mapping accuracy. We also compute the PC consumption during mapping an indoor environment. It provides reliable reference criteria for autonomous mobile robots to map the indoor circumstances. An accurate and cost-effective mapping method is a Simultaneous Localization and Mapping (SLAM) technology problem that needs to be solved. It provides a basis for autonomous mobile robots to navigate, avoid obstacles and reach the target region smoothly. We analyze the advantages and deficiencies of several main SLAM algorithms in the current ROS framework, and propose to use Gmapping algorithm to build a map in unknown environment. We compare the cost of mapping under a specific scenario, which provides the Gmapping algorithm with an optimal low-cost solution to build a 2D grid map in a small range of indoor situation.
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