Sweeping Robot Based on Laser SLAM

Abstract

Path planning and positioning are the key problems of the navigation for robot. Traditional global positioning and navigation systems, such as the Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS), can not exactly collect information nearby, which makes it difficult to complete accurate positioning and navigation indoor. SLAM algorithm allows the robot to sense the environment through its own sensors, build a map of the environment, and calibrate its position, so that it can move in an unknown environment. The SLAM algorithm based on laser has stable ranging performance in small static scenes, which is less affected by the light intensity. Therefore, in order to achieve precise positioning and navigation, the laser SLAM algorithm is applied to the sweeping robot indoor in this paper. The tests show that in the ROS operating system, the sweeping robot achieves precise positioning and plans the optimal path based on the laser SLAM algorithm, which better realizes the automatic control for the robot.