A Mapping and Navigation System for Outdoor Mobile Robot Based on Three-Dimensional Lidar

摘要：

　　The reliable navigation of mobile robots outdoors depends on high-precision maps,accurate localization and efficient path planning.Because of the high complexity of outdoor scenes,mobile robots generally use 3D lidar for mapping and navigation in outdoor scenes.The point cloud registration algorithm and path planning algorithm based on 3D point cloud map have higher complexity and higher requirements on processor hardware.In this paper,a mapping and navigation system is proposed.The system uses two-dimensional map for path planning and three-dimensional map for positioning,which can not only improve positioning accuracy,but also reduce the computational complexity of the algorithm.

关键词： Mapping Navigation Localization Path Planning

作者: Zhou Haixiang Hua Minghui Li Wanlei Lou Yunjiang

作者单位: Harbin Institute of Technology,Shenzhen,Guangdong,518055

会议类型: 国内会议

会议名称: 第22届中国系统仿真技术及其应用学术年会(CCSSTA2021)

会议地点: 合肥

会议语种:英文

页码: 377-384

在线出版日期: 2021-07-01（万方平台首次上网日期，不代表论文的发表时间）