2D Lidar-Based SLAM and Path Planning for Indoor Rescue Using Mobile Robots

Figure 2

Key modules of the robot. (1) “RGB-D,” used to get RGB image and depth image; (2) “lidar,” used to get 2D lidar point cloud; (3) “STM32 controller,” used to control the movement of the car; (4) “gyroscope,” used to get the attitude information; (5) “WI-FI,” used to contact with the host computer; (6) “power supply system”; and (7) “motor and encoder,” used to get the velocity feedback of the car movement.

(a)

(b)