Gmapping算法是小场景下的粒子滤波算法，无法检测回环，同时算法性

The Gmapping algorithm is a particle filtering algorithm in small scenes and cannot detect loops. At the same time, the algorithm performance requirements are high, because the robot runs faster when recording data. Therefore, the result of the map construction is poor, and the map is completely disorganized. The experimental scene is 22.4m long from east to west and 19.7m long from north to south. The results of the map construction show that the algorithm used in this paper is improved by 3.6% and 2.2% in two directions than cartogepar.

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Gmapping algorithm is a particle filter algorithm in small scenes, which can't detect loopback. At the same time, the algorithm requires high performance, because the robot runs faster when recording data. As a result, the results are poor and the maps are completely disordered. The experimental scene is 22.4 m long from east to west and 19.7 m from north to south. The results show that the algorithm proposed in this paper is 3.6% and 2.2% higher than that of cartogepager in two directions.