Mapping and Path Planning Simulation of Mobile Robot Slam Based on Ros

摘要

Research on SLAM mapping and autonomous navigation of ROSmobile robots is increasing. It is very important to conduct simulation research on SLAM construction and autonomous navigation of mobile robot in real environment. It is helpful to discover and correct the problems existing in the mapping and autonomous navigation of MOBILE robot in SLAM in real time. The mobile robot simulation model is built by URDF and displayed in Gazebo simulation software. The simulation model of mobile robot shown in Gazebo is studied experimentally. The results show that the constructed mobile robot can construct 2d raster map in Gazebo simulation environment by using Gmapping function package in ROS combined with keyboard control, and display the constructed 2D raster map in Rviz. Finally, load yamL file under move_base function package in ROS in Launch file, and realize simple path planning of mobile robot in 2D raster map by combining 2D Nav Goal in Rviz.