Design of an Indoor Navigation Robot Based on ROS

Abstract

This paper analyzes the current needs of visually impaired individuals for mobility and designs an indoor navigation robot based on the Robot Operating System (ROS). The Cartographer-SLAM algorithm is adopted to extract image features from the sixth floor of Building 3 at the Jiangsu campus of Jinling Institute of Technology. These features are used to continuously construct and refine a two-dimensional grid map. The results show that the Cartographer-SLAM algorithm effectively performs pose optimization, reduces the accumulation of errors and redundancy in image features, and improves the speed of map construction. When receiving navigation tasks indoors, the robot begins to plan navigation paths and execute autonomous guidance, ensuring that visually impaired users reach target locations safely and accurately. The proposed indoor navigation robot demonstrates strong navigation performance and offers practical application value.