Implementation of SLAM and path planning for mobile robots under ROS framework

This paper mainly discusses the realization of real-time positioning and map construction of mobile robots, and the use of the improved artificial potential field method for local path planning. The FastSLAM algorithm based on particle filter is used to realize map construction. The autonomous positioning, path planning, dynamic obstacle avoidance and motion simulation of the mobile robot based on the ROS platform are realized on the gazebo platform.