A Multi-LIDAR SLAM Method Based on Hector-SLAM

Simultaneous Localization and Mapping(SLAM) stands as the key technology facilitationg the realization of autonomous positioning and navigation in intelligent wheelchairs. Aiming at the problem that the field of view of an individual LIDAR mounted on the body of an intelligent wheelchair is susceptible to occlusion, we presents an improved Hector-SLAM method for simultaneous mapping using multiple laser data, which can simultaneously utilize laser data from multiple LIDARs mounted at varying angles for localization and mapping. By installing sensor devices and a main control panel on the body of an electric wheelchair and using it as an experimental platform, we show the method works effectively when the LIDAR's field of view is obstructed and enhances the accuracy of the map.