关键词: 移动机器人, 机器人导航, 自主导航, 动态环境, 激光SLAM

Abstract: In the application and research field of autonomous navigation technology for mobile robots, the physical spaces in which mobile robots perform are highly dynamic, which poses significant challenges to the robot's movement and adversely affects the accuracy and efficiency of autonomous navigation, making it difficult to achieve ideal results. To address this issue, a dynamic and adaptive mobile robot autonomous navigation method based on laser SLAM is proposed. Collecting corresponding laser data through the laser equipment carried by mobile robots, and correcting the distortion of laser data through linear interpolation, we analyze the Gaussian distribution state of the processed laser data to construct a cost map generation framework for laser SLAM. We derive the mobile cost parameters in the generated cost map to achieve autonomous navigation process. Through practical testing, it is known that the autonomous navigation results obtained by this method in application show low collision risk and excellent navigation, meeting the application requirements of dynamic adaptive mobile robots.

Key words: mobile robots, robot navigation, autonomous navigation, dynamic environment, laser SLAM