Autonomous Navigation Building Climbing And Handing Robot Based on SLAM

Abstract

When there is no elevator at the station and airport or the elevator is crowded, the ramp of baggage checking is steep, the weight of luggage package is too heavy, it takes time and effort, and it is very easy to knock against and cause damage to the contents of the package.Our climbing robot carries out autonomous navigation based on visual SLAM. Equipped with ROS robot operating system, it adopts laser SLAM mapping navigation technology and tracks as running parts, which is suitable for various terrains. The adoption of binocular vision, can be more accurate analysis of the surrounding environment. The robot is equipped with MPU9250 attitude sensor, which is convenient for solving robot attitude. Jetson Nano was used as the upper computer and STM32F429 as the lower computer.