信阳师范大学学报（自然科学版）2026，Vol.39Issue(2)：257-263,7.DOI:10.3969/j.issn.2097-583X.2026.02.012
面向激光SLAM的自主导航方法
Autonomous navigation method for laser SLAM
摘要
Abstract
The autonomous navigation of mobile robots in complex environments relied heavily on environmental maps,the accuracy of map construction depended on system optimization algorithms and the performance of supporting sensors,the path planning also needed to coordinate two core links:global planning and local planning.Therefore,based on the theory of Simultaneous Localization and Mapping(SLAM),an experimental platform for mobile robots was built,an autonomous navigation method based on laser SLAM was proposed,and an optimization strategy combining time optimality and graph optimization was designed for the local planning module in path planning.To verify the system performance,the simulation experiments and physical experiments were conducted,and the key indicators such as the calibration accuracy of robot sensors,the accuracy of environmental map construction,and the rationality of local path planning were tested with emphasis.The results showed that the designed mobile robot could accurately complete the tasks of map construction and path planning,which provided a theoretical basis for the subsequent application of robots in forest operation scenarios.关键词
激光SLAM/机器人操作系统/路径规划/自主导航/同步定位与地图构建Key words
laser SLAM/robot operating system/path planning/autonomous navigation/simultaneous localization and mapping分类
信息技术与安全科学引用本文复制引用
陈松楠,陈芝美惠,潘赫斐,刘龙..面向激光SLAM的自主导航方法[J].信阳师范大学学报（自然科学版）,2026,39(2):257-263,7.基金项目
国家自然科学基金项目(32071680) （32071680）
广东省基础与应用基础研究基金项目(2023A1515110776) （2023A1515110776）
湖北省教育厅科学技术研究项目(D20241702) （D20241702）
河南省高等学校重点科研项目(26B520044) （26B520044）
