{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T09:26:03Z","timestamp":1770974763517,"version":"3.50.1"},"reference-count":22,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,2,23]],"date-time":"2023-02-23T00:00:00Z","timestamp":1677110400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"China Association of Higher Education","award":["21GCYB04"],"award-info":[{"award-number":["21GCYB04"]}]},{"name":"China Association of Higher Education","award":["BIA200191"],"award-info":[{"award-number":["BIA200191"]}]},{"name":"China Association of Higher Education","award":["51575005"],"award-info":[{"award-number":["51575005"]}]},{"name":"China Association of Higher Education","award":["1221051"],"award-info":[{"award-number":["1221051"]}]},{"DOI":"10.13039\/501100012456","name":"National Social Science Foundation of China","doi-asserted-by":"publisher","award":["21GCYB04"],"award-info":[{"award-number":["21GCYB04"]}],"id":[{"id":"10.13039\/501100012456","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012456","name":"National Social Science Foundation of China","doi-asserted-by":"publisher","award":["BIA200191"],"award-info":[{"award-number":["BIA200191"]}],"id":[{"id":"10.13039\/501100012456","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012456","name":"National Social Science Foundation of China","doi-asserted-by":"publisher","award":["51575005"],"award-info":[{"award-number":["51575005"]}],"id":[{"id":"10.13039\/501100012456","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012456","name":"National Social Science Foundation of China","doi-asserted-by":"publisher","award":["1221051"],"award-info":[{"award-number":["1221051"]}],"id":[{"id":"10.13039\/501100012456","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["21GCYB04"],"award-info":[{"award-number":["21GCYB04"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["BIA200191"],"award-info":[{"award-number":["BIA200191"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51575005"],"award-info":[{"award-number":["51575005"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["1221051"],"award-info":[{"award-number":["1221051"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Engineering Research Center of the Ministry of Education 2022 Annual Innovation Fund Project","award":["21GCYB04"],"award-info":[{"award-number":["21GCYB04"]}]},{"name":"Engineering Research Center of the Ministry of Education 2022 Annual Innovation Fund Project","award":["BIA200191"],"award-info":[{"award-number":["BIA200191"]}]},{"name":"Engineering Research Center of the Ministry of Education 2022 Annual Innovation Fund Project","award":["51575005"],"award-info":[{"award-number":["51575005"]}]},{"name":"Engineering Research Center of the Ministry of Education 2022 Annual Innovation Fund Project","award":["1221051"],"award-info":[{"award-number":["1221051"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Aiming at the inconvenience of inspection and monitoring of coal mine pump room equipment in a narrow and complex environment, this paper proposes and designs a two-wheel self-balancing inspection robot based on laser SLAM. Using SolidWorks, the three-dimensional mechanical structure of the robot is designed, and the overall structure of the robot is analyzed by finite element statics. The kinematics model of the two-wheel self-balancing robot was established, and the multi-closed-loop PID controller was used to design the two-wheel self-balancing control algorithm of the robot. The 2D LiDAR-based Gmapping algorithm was used to locate the robot and construct the map. Through the self-balancing test and anti-jamming test, it is verified that the self-balancing algorithm designed in this paper has a certain anti-jamming ability and good robustness. By using Gazebo to build a simulation comparison experiment, it is verified that the selection of the particle number is of great significance for improving the map accuracy. The actual test results show that the constructed map has high accuracy.<\/jats:p>","DOI":"10.3390\/s23052489","type":"journal-article","created":{"date-parts":[[2023,2,24]],"date-time":"2023-02-24T02:03:26Z","timestamp":1677204206000},"page":"2489","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Research on Two-Round Self-Balancing Robot SLAM Based on the Gmapping Algorithm"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2831-1201","authenticated-orcid":false,"given":"Jianwei","family":"Zhao","sequence":"first","affiliation":[{"name":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinyu","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiaxin","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Electronic & Information Engineering, China University of Mining and Technology, Beijing 100083, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,23]]},"reference":[{"key":"ref_1","first-page":"198","article-title":"A Research of substation inspection robot navigation method","volume":"14","author":"Zu","year":"2014","journal-title":"Sci. Technol. Eng."},{"key":"ref_2","unstructured":"Daisuke, K., Satoki, T., Gustavo Alfonso Garcia, R., Jun, T., and Tsukasa, O. (February, January 30). Alignment of Occupancy Grid and Floor Maps Using Graph Matching. Proceedings of the 2017 IEEE 11th International Conference on Semantic Computing (ICSC), San Diego, CA, USA."},{"key":"ref_3","first-page":"139","article-title":"Research on Inspection robot of Coal mine Water pump House based on Optimized Fast-SLAM","volume":"53","author":"Qiu","year":"2021","journal-title":"Coal Eng."},{"key":"ref_4","unstructured":"Qiao, L. (2019). Research On Control Strategy of Two-Wheeled Self-Balancing Robot. [Ph.D. Thesis, Harbin Engineering University]."},{"key":"ref_5","first-page":"2296","article-title":"Finite element simulation analysis integrated information model based on Design Reuse","volume":"15","author":"Lin","year":"2009","journal-title":"Comput. Integr. Manuf. Syst."},{"key":"ref_6","unstructured":"Wang, X. (2018). Design of Two-Wheel Balancing Vehicle System Based on Genetic PD Control. [Ph.D. Thesis, Harbin University of Science and Technology]."},{"key":"ref_7","unstructured":"Tang, L. (2013). Modeling and Control of Inverted Pendulum System. [Ph.D. Thesis, Henan University]."},{"key":"ref_8","unstructured":"Zhou, D. (2022). Structure and Control System Design of Weight Reduction Walking Aid Robot. [Ph.D. Thesis, Anhui University of Science and Technology]."},{"key":"ref_9","first-page":"455","article-title":"Research progress of synchronous self-localization and map creation for mobile robots","volume":"3","author":"Chen","year":"2005","journal-title":"Control Theory Appl."},{"key":"ref_10","first-page":"1","article-title":"A review of full coverage path planning algorithms for intelligent machinery","volume":"24","author":"Xu","year":"2016","journal-title":"Comput. Meas. Control"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Gonz\u00e1lez, O.M., Novel, C., Said, A., and \u00c1ngel, T. (2017, January 8\u201310). Autonomous 2D SLAM and 3D Mapping of an Environment Using a Single 2D LIDAR and ROS. Proceedings of the 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR), Curitiba, Brazil.","DOI":"10.1109\/SBR-LARS-R.2017.8215333"},{"key":"ref_12","first-page":"122","article-title":"Application of sensors in UAV flight control system","volume":"25","author":"Li","year":"2019","journal-title":"Professional"},{"key":"ref_13","unstructured":"Zhang, P. (2018). Research and Implementation of Indoor Path Planning Technology for Mobile Robots. [Ph.D. Thesis, Xi\u2019an University of Science and Technology]."},{"key":"ref_14","first-page":"3523","article-title":"SLAM Algorithm for underground Mobile Robot based on Laser Inertia Fusion","volume":"47","author":"Yang","year":"2022","journal-title":"J. China Coal Soc."},{"key":"ref_15","unstructured":"Du, Z. (2019). Research on SLAM and Navigation Technology of Indoor Mobile Robot Based on LiDAR. [Ph.D. Thesis, Hubei University of Technology]."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1109\/TRO.2006.889486","article-title":"Improved techniques for grid mapping with Rao-Blackwellized particle filters","volume":"23","author":"Giorgio","year":"2007","journal-title":"IEEE Trans. Robot."},{"key":"ref_17","unstructured":"Zhu, M. (2022). Research on Mobile Robot Closed-Loop Detection Algorithm Based on Vision SLAM. [Ph.D. Thesis, Zhejiang Gongshang University]."},{"key":"ref_18","unstructured":"Zhao, X. (2008). Robot Localization and Target Tracking Based on Particle Filter. [Ph.D. Thesis, Ocean University of China]."},{"key":"ref_19","unstructured":"Qiu, H. (2021). Research on Semantic Map Construction Method of Cloud Mobile Robot. [Ph.D. Thesis, Southeast University]."},{"key":"ref_20","unstructured":"Stephen, H., Paul, D., and Kimberly, H. (2015, January 26\u201330). The Affordance Template ROS Package for Robot Task Programming. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA."},{"key":"ref_21","unstructured":"Lopez, N.G., Nuin YL, E., Moral, E.B., Juan LU, S., Rueda, A.S., Vilches, V.M., and Kojcev, R. (2019). Gym-gazebo2, a toolkit for reinforcement learning using ROS 2 and Gazebo. arXiv."},{"key":"ref_22","unstructured":"Li, H., Qiao, X., and Niu, K. (2022, November 22). Research on Building Mobile Robot Mapping Based on 2D Laser Radar. Available online: https:\/\/cpfd.cnki.com.cn\/Article\/CPFDTOTAL-SGJS202112001056.htm."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/5\/2489\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T18:40:36Z","timestamp":1760121636000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/23\/5\/2489"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,23]]},"references-count":22,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2023,3]]}},"alternative-id":["s23052489"],"URL":"https:\/\/doi.org\/10.3390\/s23052489","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,23]]}}}