The New Method of Active SLAM for Mapping Using LiDAR
The New Method of Active SLAM for Mapping Using LiDAR
复制标题
DOI：
10.3390/electronics11071082
复制
发表时间：
2022-03
期刊：
影响因子：
2.9
通讯作者：
Michal Mihálik;Branislav Malobický;P. Peniak;P. Vestenický
中科院分区：
文献类型：
--
作者：
Michal Mihálik;Branislav Malobický;P. Peniak;P. Vestenický
在本文中，我们提出了一种新的方法来解决主动SLAM问题。在此设计中，我们使用了已经起作用的SLAM算法，并针对我们的情况进行了修改。采用MatLab作为主要的软件工具。所有提出的方法都在移动机器人系统上进行了实验验证。我们使用激光雷达作为主要传感器。在绘制了环境地图后，我们创建了网格地图。栅格地图可以用于移动机器人系统的导航，但本文并不涉及移动机器人系统的导航和控制。整个过程的结果是环境的自主映射。
In this article, we propose a new approach to addressing the issue of active SLAM. In this design, we used the already functional SLAM algorithm, which we modified for our case. Matlab was used as the main software tool. All proposed methods were experimentally verified on a mobile robotic system. We used LiDAR as the primary sensor. After mapping the environment, we created a grid map. The grid map may be used for the navigation of the mobile robotic system, but the navigation and control of the mobile robotic system are not involved in this article. The result of the whole process is an autonomous mapping of the environment.