Abstract
This paper compares the performance of 2D and 3D LiDAR in terms of trajectory and AMCL localization using the ROS 1 Kinetic system architecture. First, 2D and 3D LiDAR are used to scan maps, generate COST MAP and TF coordinates, and perform route planning. Then, 2D and 3D LiDAR are used for map scanning and localization, and finally, move_base is used for local and global automatic navigation for path planning, obstacle avoidance, and trajectory. The study also compares the differences between path planning, 2D and 3D trajectories. In the experiment, auto-guidance is performed for 10 positions and its accuracy is discussed, including the RMS error of the actual spatial origin and the RMS error of the AMCL coordinates positioning, and the obstacle avoidance is analyzed for the 1-point position. The results show that the use of 3D LiDAR in the ROS-based move_base navigation system can achieve better performance in positioning and path planning.