Quadruped robot control method based on SLAM (Simultaneous Localization and Mapping) of improved Cartograph

The invention belongs to the technical field of robot control, and particularly relates to a quadruped robot control method based on SLAM of improved Cartograph, and the control method comprises the following steps: S1, building a robot hardware platform; s2, establishing a laboratory map; s3, repositioning is carried out; s4, path planning; s5, calibrating linear velocity and angular velocity; and S6, navigation is carried out. According to the method, the optimized Cartograph SLAM algorithm consumes shorter CPU time, the peak value of the CPU occupancy rate is slightly low when the map is constructed, and the calculation pressure is relatively small; according to the optimized Cartograph SLAM algorithm, the mapping effect is obviously better, the measurement error is reduced, and better robustness is achieved; compared with a traditional GPS, autonomous navigation of the robot can be achieved, cost is low, practicability is high, and the usable range is wider. 本发明属于机器人控制技术领域，具体涉及一种基于改进Cartographer的SLAM的四足机器