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Home > Archive>Volume 31, Issue 9, 2020 >2678-2690. DOI:10.13328/j.cnki.jos.005937
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Cartographer Algorithm and System Implementation Based on Enhanced Pose Fusion of Sweeping Robot
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National Natural Science Foundation of China (61401324, 61305109); Shaanxi Province Key Research and Development Program (2018ZDXM-GY-36)

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    Abstract:

    Cartographer is Google's 2016 open source SLAM algorithm framework for low computational resource consumption in multi-sensor configurations. In this study, due to the inaccurate middle posture fusion and delay of the original Cartographer, a multi- sensor posture fusion method based on posture increment was designed. Subsequently, the multi-module SLAM system based on enhanced Cartographer algorithm was designed and implemented for the cleaning robot Player platform. Finally, the effectiveness of the enhanced Cartographer algorithm and the usability of the SLAM system on the Player robot platform were verified by the experimental analysis of the Cartographer data set and the actual test of the real scenario.

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张亮,刘智宇,曹晶瑛,沈沛意,蒋得志,梅林,朱光明,苗启广.扫地机器人增强位姿融合的Cartographer算法及系统实现.软件学报,2020,31(9):2678-2690

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History
  • Received:June 27,2019
  • Revised:August 18,2019
  • Online: January 17,2020
  • Published: September 06,2020
Links:Institute of Software, CASChina Computer FederationCASNSFC
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