SLAM Self - Cruise Vehicle Based on ROS Platform

Abstract

Using SLAM technology and TEB path planning based on ROS simulation platform to design an autonomous intelligent car. First, the navigation system framework is designed in Gazebo simulation environment. Relying on laser radar to scan the surrounding environment and using gmapping algorithm for SLAM mapping. Use AMCL adaptive Monte Carlo positioning method to locate the car, and perform global path planning and local path planning through move_base. After calculation, cmd_vel is released to the motion controller to control the motion of the car, so as to realize the navigation function of the car.