基于激光SLAM的实验室巡检机器人设计与实现

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中图分类号：TP242 文献标志码：A 文章编号：2095-2945(2025)14-0031-04

Abstract:Inordertobetercompletelaboratorysafetymanagement，aninspectionrobotbasedonlaserSLAMtechnologyis designedandimplementedaccordingtotheenvironmentalcharacteristicsofelectromechanicallaboratories.Therobotuseslidaras themainsensor,combinestheROS(Robot Operating System）robotoperating systemandGmapingalgorithm torealize the robot'sSimultaneousLocalizationandMappng(SLAM).Therobotsensesenvironmentalinformationinrealtimethroughlidar, usesGmappingalgorithmtoprocessthecollctedinformation，generatesatwo-dimensionalmap,andrealizesautonomous positoningoftherobot.Duringtheexperiment,theROSframeworkwasutilizedtoenabletherobottoachieveeficientdata transmissionandsharingthroughthepublish/subscribecommunicationmodelbetweenodes，ensuringthesmoothcompletionof therobot's mapping task.Experimentalresultsshowthatthedesignedinspectionrobotcanwork inageneral-scalelaboratoryand canaccuratelybuildmapseveninthecaseofinsufcientlight,whichshowsgoodapplicabilityandcanimprovetheautomation level of laboratory inspections in the future.

Keywords:LiDAR;SLAM；inspection robot; ROS;laboratory

SLAM(即时定位与地图构建)是一种允许机器人在未知环境中同时进行自身定位和环境地图构建的技术。（剩余6408字）