Mobile Robot Autonomous Exploration and Navigation in Large-scale Indoor Environments

摘要

This work is intended to study the stages of exploring, localization and mapping of autonomous mobile robots and vehicles. In addition to the use of integrated and standard software, ROS has the possibility of creating small map data files recorded with the data provided by 2D Light Detection And Ranging (LiDAR) sensors. The low data density favours the increased efficiency during data processing. The metric maps register just enough information to create the topological nodes and edges in a relational map. Extensive experiments in both simulated environments and real-world applications show the effectiveness of the proposed method.