Environment perception and modeling system for unmanned ground vehicles based on ROS1

Against the backdrop of continuous technological evolution, unmanned ground vehicles have demonstrated great application potential in numerous fields. This paper, based on the ROS1 (Robot Operating System 1) framework, designs and implements an unmanned ground vehicle system that integrates environment perception, map construction, and autonomous navigation functions. The paper elaborates in detail on the system's hardware architecture and electrical connection methods, and delves into environment perception technologies, map construction algorithms, and path planning strategies. Through a series of experimental verifications, this system can achieve accurate environment perception and efficient autonomous navigation in complex environments. It provides a valuable solution for the practical application of unmanned ground vehicles in related fields, and also offers technical ideas that can be referenced for the development of mobile robots.