Simulation for Multi-Sensors-Based Autonomous Robot

Autonomous robots are attracting increasing attention nowadays, especially in parcel delivery and in search and rescue activities. In order to improve the accuracy of mapping and navigation for these robots, multi-sensors have been considered with sensor fusion technology. However, different sensor fusion methods may lead to different efficiency and performance. This paper focuses on the simulation of sensor fusion by utilizing LIDAR and odometer sensors; following parameter optimization, more accurate mapping can be realized. Based on this result, navigation was also tested to show the effectiveness of trajectory planning.