Map Construction and Positioning Method for LiDAR SLAM-Based Navigation of an Agricultural Field Inspection Robot

Abstract

In agricultural field inspection robots, constructing accurate environmental maps and achieving precise localization are essential for effective Light Detection And Ranging (LiDAR) Simultaneous Localization And Mapping (SLAM) navigation. However, navigating in occluded environments, such as mapping distortion and substantial cumulative errors, presents challenges. Although current filter-based algorithms and graph optimization-based algorithms are exceptionally outstanding, they exhibit a high degree of complexity. This paper aims to investigate precise mapping and localization methods for robots, facilitating accurate LiDAR SLAM navigation in agricultural environments characterized by occlusions. Initially, a LiDAR SLAM point cloud mapping scheme is proposed based on the LiDAR Odometry And Mapping (LOAM) framework, tailored to the operational requirements of the robot. Then, the GNU Image Manipulation Program (GIMP) is employed for map optimization. This approach simplifies the map optimization process for autonomous navigation systems and aids in converting the Costmap. Finally, the Adaptive Monte Carlo Localization (AMCL) method is implemented for the robot’s positioning, using sensor data from the robot. Experimental results highlight that during outdoor navigation tests, when the robot operates at a speed of 1.6 m/s, the average error between the mapped values and actual measurements is 0.205 m. The results demonstrate that our method effectively prevents navigation mapping distortion and facilitates reliable robot positioning in experimental settings.