Research and Implementation of Unknown Environment Map Construction Method with Lidar-based Robot

The role of mobile robots is becoming more and more important. In the meantime, It is the basis for the robot to build a map in an unknown environment autonomously. In this paper, by using ROS robot and 360 distance laser sensor LDS-01, the laser scanning information is acquired in real-time, Synchronous map construction in real-time through the fusion of robot self-positioning information and environmental information. Update existing maps in real-time during the build process, ultimately enabling map construction of the entire unknown environment. By testing in the simulator Gazebo and building an indoor environment map, the test results in the actual environment show that the method of this paper can construct the unknown environment map more accurately and in real-time.