The main subject of this paper is the experimental analysis of LiDAR-SLAM-based indoor navigation for a mobile robot, considering the effect of the mobile robot's linear and angular velocities on the deviation that occurs in the resulting 2D map. Our objective in this paper is to utilize the Robotics Operating System (ROS) and the Gmapping method, which rely solely on LiDAR and IMU for simultaneous localization and mapping (SLAM). It was observed that as the velocity increases, the deviation of the map decreases. After experimenting with various velocities, it was determined that the optimum velocity is 1.0 m/s. This velocity is optimal for indoor navigation within the scope of our experimental environment, exhibiting the minimum deviation from the ground truth map. |
