Design and Implementation of Indoor Patrol Robot
Zhichao Sun, Xinyue Cai, Limin Mao, Jinxin Yao · 2023
In this paper, the depth camera and lidar are used in indoor patrol robot, and the Gmapping algorithm of particle filter algorithm is used to construct map, which realizes the automatic navigation of Move_base algorithm combining global path planning and local path planning. In this paper, the adaptive Monte Carlo localization algorithm is used for localization, and the real-time analysis of obstacles to achieve automatic obstacle avoidance, to improve the actual use of the robot security. The feasibility of the robot is verified by simulation experiments in this paper. Through experimental debugging, the robot can accurately realize autonomous positioning and navigation, and achieve the basic function of indoor patrol.