基于激光SLAM的實(shí)驗(yàn)室巡檢機(jī)器人設(shè)計(jì)與實(shí)現(xiàn)

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中圖分類號：TP242 文獻(xiàn)標(biāo)志碼：A 文章編號：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(即時定位與地圖構(gòu)建)是一種允許機(jī)器人在未知環(huán)境中同時進(jìn)行自身定位和環(huán)境地圖構(gòu)建的技術(shù)。（剩余6408字）