An Improved Laser SLAM Algorithm Based on Cartographer

SLAM is one of the core technologies in the field of robotics.At present, Laser SLAM has become the mainstream mapping solution for general mobile robots.Cartographer algorithm is one of the mainstream Laser SLAM algorithms, which has attracted much attention because of its high accuracy and suitable for large scenes.However, the effect of sensor data fusion using Unscented Kalman Filter (UKF) is not ideal.Therefore, an improved Cartographer algorithm is proposed in this paper, which uses Adaptive Unscented Kalman Filter (AUKF) to fuse information of sensors, aiming to improve the accuracy of localization and mapping.