科技创新与应用2025，Vol.15Issue(14)：31-34,4.DOI:10.19981/j.CN23-1581/G3.2025.14.007
基于激光SLAM的实验室巡检机器人设计与实现
摘要
Abstract
In order to better complete laboratory safety management,an inspection robot based on laser SLAM technology is designed and implemented according to the environmental characteristics of electromechanical laboratories.The robot uses lidar as the main sensor,combines the ROS(Robot Operating System)robot operating system and Gmapping algorithm to realize the robot's Simultaneous Localization and Mapping(SLAM).The robot senses environmental information in real time through lidar,uses Gmapping algorithm to process the collected information,generates a two-dimensional map,and realizes autonomous positioning of the robot.During the experiment,the ROS framework was utilized to enable the robot to achieve efficient data transmission and sharing through the publish/subscribe communication model between nodes,ensuring the smooth completion of the robot's mapping task.Experimental results show that the designed inspection robot can work in a general-scale laboratory and can accurately build maps even in the case of insufficient light,which shows good applicability and can improve the automation level of laboratory inspections in the future.关键词
激光雷达/SLAM/巡检机器人/ROS/实验室Key words
LiDAR/SLAM/inspection robot/ROS/laboratory分类
计算机与自动化引用本文复制引用
钟灼臻,陈华筠..基于激光SLAM的实验室巡检机器人设计与实现[J].科技创新与应用,2025,15(14):31-34,4.基金项目
广东技术师范大学2024年度"实验室管理研究"项目(24SYSGL007) （24SYSGL007）
