Research on Cartographer Algorithm based on Low Cost Lidar

Abstract

The positioning and navigation functions of mobile robots require lidar, but the existing low-cost lidars have low positioning accuracy and cannot achieve large-scale closed-loop detection. The good performance of laser radar improves the positioning of mobile robots in navigation technology. threshold. Therefore, this paper takes a low-cost laser radar indoor mobile robot as the research object, and proposes a method to optimize the Cartographer algorithm parameters based on low-cost laser radar. By analyzing the working principle of laser radar, the low-cost laser radar is constructed. The shortcomings of the aspect, and the parameter optimization method of the Cartographer algorithm is proposed for this shortcoming. The experimental results in the real scene show that the improved Cartographer algorithm can construct the grid map in real time, and the efficiency and precision of the construction are obviously improved.