Slam and navigation of indoor robot based on ROS and lidar

Abstract

For indoor service robot, this paper designs an indoor robot based on ROS (robot operating system) operating system. The robot uses two-dimensional lidar as the core sensor to collect the depth information of the environment and uses SLAM algorithm based on particle filter to realize the robot mapping; Based on the framework of ROS, A∗ algorithm and DWA algorithm are used to realize the navigation function of the robot; The map and navigation are simulated in the gazebo simulation environment to verify the function of path planning, local obstacle avoidance and navigation.