关键词: 室内 ROS 智能车；Gmapping 算法；同步定位与建图系统；激光雷达

Abstract: Indoor mobile robots are a hot issue in recent years, and synchronous positioning and mapping technology is one of the key technologies of mobile robot. To this end, a synchronous positioning and the mapping system is designed in this paper, based on robot operating system (ROS) intelligent car, which takes Gmapping as the core algorithm. Firstly, to compensate for the motion distortion per frame of the data of the single-line lidar with the odometer constructed by the motor encoder, lidar data and odometer data after motion distortion compensation is used as the input of the Gmapping algorithm; Then particle initialized via the Gmapping algorithm, construct a proposed distribution considering the observed quantity and sampling the particles to estimate the intelligent parking poses, resampling the particles with the resampling importance coefficient and setting the resampling threshold, update the map state of each particle with a binary bayesian filter; At last, the pose estimation and map data of intelligent car based on the Gmapping algorithm. The test results show that the designed synchronous positioning and the mapping system are more accurate in the intelligent parking pose estimation and construction map in a small size environment, which meets the design target requirements.

Key words: Indoor ROS intelligent car; Gmapping algorithm; Synchronous localization and drawing mapping system; Lidar