Optimal parameter analysis of two SLAM algorithms based on laser radar

GAO Wen-yan; PING Xue-liang; BEI Xu-ying; CHEN Wei

doi:10.13873/J.1000-9787(2018)04-0028-03

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Optimal parameter analysis of two SLAM algorithms based on laser radar

更新时间：2025-09-11

- Optimal parameter analysis of two SLAM algorithms based on laser radar
- Issue 4, Pages: 28-30+33(2018)
- 作者机构：
  
  江南大学机械工程学院江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2018)04-0028-03
  CLC： TP242
- Published：2018
- 稿件说明：
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GAO Wen-yan, PING Xue-liang, BEI Xu-ying, et al. Optimal parameter analysis of two SLAM algorithms based on laser radar[J]. 2018, (4): 28-30+33.
DOI：

GAO Wen-yan, PING Xue-liang, BEI Xu-ying, et al. Optimal parameter analysis of two SLAM algorithms based on laser radar[J]. 2018, (4): 28-30+33. DOI： 10.13873/J.1000-9787(2018)04-0028-03.

摘要

激光雷达是移动机器人同步定位与地图构建(SLAM)的重要模块。对目前主流的基于激光雷达的SLAM方法(Gmapping和Hector SLAM)进行研究

借助开源机器人操作系统(ROS)

在自主研发的移动机器人平台上配备激光雷达

实现了不同参数配置下两种算法的地图构建。实验为参数最优配置指明了方向

且证明了Hector SLAM的整体构图精度高于Gmapping

但对参数配置要求较高。

Abstract

Laser radar is an important module of mobile robot simultaneous localization and mapping（SLAM）.Two SLAM methods based on laser radar

Gmapping and Hector SLAM

at present is researched

on self-developed mobile robot platform

equip laser radar

realize mapping of two algorithms under different parameters by open source robot operaring system（ROS）. The experiment indicates correct direction for parameter optimal configuration and prove Hector SLAM has higher mapping precision than Gmapping but request for parameter configuration is much more higher.

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