{"title":"基于不同环境的移动机器人SLAM与导航系统构建与评价","authors":"Haodong Wang, W. Guo, Yu-Chen Fu","doi":"10.1109/RCAR52367.2021.9517330","DOIUrl":null,"url":null,"abstract":"In this paper, a complete mapping, localization and navigation framework based on ROS system is proposed. And on this experimental platform, a variety of environments are built based on the 3D simulation software gazebo. In the simulation experiment, gmapping and cartographer are used to build occupancy map in real time. The evaluation strategy of the SLAM system is proposed, and the experiment result evaluation based on different environment and parameters is completed.","PeriodicalId":232892,"journal":{"name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Construction and evaluation of SLAM and navigation system for mobile robot based on diverse environments\",\"authors\":\"Haodong Wang, W. Guo, Yu-Chen Fu\",\"doi\":\"10.1109/RCAR52367.2021.9517330\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, a complete mapping, localization and navigation framework based on ROS system is proposed. And on this experimental platform, a variety of environments are built based on the 3D simulation software gazebo. In the simulation experiment, gmapping and cartographer are used to build occupancy map in real time. The evaluation strategy of the SLAM system is proposed, and the experiment result evaluation based on different environment and parameters is completed.\",\"PeriodicalId\":232892,\"journal\":{\"name\":\"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)\",\"volume\":\"81 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-07-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RCAR52367.2021.9517330\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RCAR52367.2021.9517330","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Construction and evaluation of SLAM and navigation system for mobile robot based on diverse environments
In this paper, a complete mapping, localization and navigation framework based on ROS system is proposed. And on this experimental platform, a variety of environments are built based on the 3D simulation software gazebo. In the simulation experiment, gmapping and cartographer are used to build occupancy map in real time. The evaluation strategy of the SLAM system is proposed, and the experiment result evaluation based on different environment and parameters is completed.
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