Mobile robot mapping method based on improved Gmapping algorithm

The invention provides a mobile robot mapping method based on an improved Gmapping algorithm. In the mapping process of a mobile robot, a Gmapping algorithm has a good mapping effect in an indoor environment, but the Gmapping algorithm has the defect of particle degradation, and the method mainly improves the defect. After the laser radar carried by the mobile robot body emits particles, the description capability of the particles to the environment is changed due to the change of the two-dimensional environment. In a Gmapping algorithm, a link of judging a particle state is added, a resampling step is carried out according to the number of degraded particles, and the reasonability of particle weight distribution is completed. Finally, a simulation comparison process is added, two-dimensional environment mapping is accurate, and the effectiveness and superiority of the method are fully shown. 本发明提供的一种基于改进的Gmapping算法的移动机器人建图方法。在移动机器人建图过程中，Gmapping算法在室内环境下建图效果良好，但其存在着粒子退化的缺点，本发明主要这一缺点进行改进。移动机器人本体所载激光雷达散发粒子后，由于二