Robot localization and environment mapping based on SC-LIO-SAM

Currently, the rapid development of computer and robotics technology has led to robots gradually entering people's daily lives, and service-oriented indoor mobile robots have received widespread attention. Positioning and navigation are the core issues in researching indoor robots. This system is based on SC-LIO-SAM, which studies map modeling, accurate robot positioning, and real-time path planning. Through three steps of establishing a map, modifying the map, and actual navigation, the system is debugged and the results meet the predetermined goals. This system has a good reference value for researching robot positioning, autonomous driving, and automatic control.