Temporal and Spatial Complexity Performance for a Complete Navigation Solution Based on LiDAR

As the price of LiDAR decreases and the continued refinement of the second-generation robotic operating system, ROS2, hardware and technical foundation have been laid for the development of industrial robotics middleware to meet the demanding requirements of real-time distributed and embedded systems for robotics. The combination of the two can accurately locate the position, shape and size of objects and provide more accurate real-time sensing of the surrounding environment. However, there are few complete navigation solutions based on ROS2 and LiDAR, and industrial robots also tend to face more complex situations, including multi-scene adaptation and environmental change issues. Therefore this article designs and debugs a complete navigation scheme for mobile robot multi-scene adaptation based on inverted mounted LiDAR with ROS2. Conduct multiple manual navigation experiments in test environments with varying spatial complexity and temporal uncertainty to plan basic navigation routes. The multi-scenario adaptability of the algorithm is tested and validated by restricting the navigation task to specific environments, thus finalizing the stability and feasibility of the algorithm.