Construction and evaluation of SLAM and navigation system for mobile robot based on diverse environments

In this paper, a complete mapping, localization and navigation framework based on ROS system is proposed. And on this experimental platform, a variety of environments are built based on the 3D simulation software gazebo. In the simulation experiment, gmapping and cartographer are used to build occupancy map in real time. The evaluation strategy of the SLAM system is proposed, and the experiment result evaluation based on different environment and parameters is completed.