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

Figure 1

System structure of our mobile robot. “STM32 robot control module” gets information of motors from “encoder” and motion from “gyroscope” to control motors and transfer the motion and encoder information to “IPC” which is a microcomputer. Then, “IPC” gets information from Lidar, “STM32 robot control module,” and RGB-D camera.