Research on mobile robot navigation technology based on multi-target point SLAM

XU Yaohui; LIU Zuoshi; LI Kaijie

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Research on mobile robot navigation technology based on multi-target point SLAM

Research & Approach | 更新时间：2026-04-17

- Research on mobile robot navigation technology based on multi-target point SLAM
- Vol. 45, Issue 4, Pages: 7-11(2026)
- 作者机构：
  
  江西理工大学机电工程学院,江西,赣州,341000
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212;TP242
- Published：2026
- 稿件说明：
移动端阅览
XU Yaohui, LIU Zuoshi, LI Kaijie. Research on mobile robot navigation technology based on multi-target point SLAM[J]. 2026, 45(4): 7-11.
DOI：

XU Yaohui, LIU Zuoshi, LI Kaijie. Research on mobile robot navigation technology based on multi-target point SLAM[J]. 2026, 45(4): 7-11. DOI：

摘要

针对传统移动机器人在多目标点的导航问题—多目标点的最优遍历和移动机器人的避障运行，设计了一种基于多传感器融合同步定位与地图构建（SLAM）移动机器人。通过引入基于外观的实时建图（RTAB-Map）及Gmapping算法对比，优化参数，构建优质地图，利用蚁群优化(ACO)算法对多目标点进行最优遍历。对于传统的A

算法，提出一种分段多阶次贝塞尔曲线优化路径轨迹，利用Python仿真

验证其可行性，并构建地图对算法进行验证，结果表明:该移动机器人能够实现自主导航和建图，并从地图质量、路径距离、功能性、路径平滑度等验证该设计的可行性，运动效率更高，安全性和鲁棒性均有提升。

Abstract

Aiming at the navigation problems of traditional mobile robots in multi-target points

two aspects are considered:optimal traversal of multiple target points and obstacle avoidance for mobile robots.A mobile robot based on multi-sensor fusion simultaneous localization and mapping(SLAM)is designed.By integrating real-time appearance-based mapping(RTAB-Map)and Gmapping algorithms

parameters are optimized to construct high-quality maps.Meanwhile

the ant colony optimization(ACO)algorithm is utilized for the optimal traversal of multi-target points.For the traditional A

algorithm

a segmented multi-order Bezier curve is proposed to optimize the pat

h trajectory.The feasibility is verified through Python simulation

and maps are constructed to validate the algorithm.The results indicate that the mobile robot can achieve autonomous navigation and mapping

and the feasibility of the design is verified from map quality

path distance

functionality

and path smoothness.The motion efficiency is improved

and both safety and robustness are enhanced.

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