TY - GEN
T1 - Construction and evaluation of SLAM and navigation system for mobile robot based on diverse environments
AU - Wang, Haodong
AU - Guo, Wei
AU - Fu, Yu
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85115410261
U2 - 10.1109/RCAR52367.2021.9517330
DO - 10.1109/RCAR52367.2021.9517330
M3 - 会议稿件
AN - SCOPUS:85115410261
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 1042
EP - 1046
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -