ROS-based laser SLAM for autonomous navigation of smart carts
Yashi Zhang, Kaijie Jiao · Proceedings of the 7th International Conference on Cyber Security and Information Engineering · 2022
At present, traditional intelligent carts have positioning system (GPS) and obstacle avoidance system (ultrasonic, infrared), but due to the limitation of accuracy or the influence of the environment, the above-mentioned solutions always have inaccurate identification under the unknown area and error in the location of the positioning area when performing tasks outdoors, and at the same time, the navigation and obstacle avoidance functions are not perfect, this paper designs an intelligent ROS and laser SLAM-based trolley. Compared with the traditional intelligent cart, ROS intelligent cart, through the ROS in Raspberry Pi for master control, STM32 as slave control, through the laser SLAM algorithm, instant positioning, scanning obstacles, planning the optimal route, to achieve autonomous positioning and navigation, the real sense of self-driving. In this paper, the LIDAR SLAM builder is realized and the ROS cart is able to navigate autonomously.