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As the basic system of the rescue robot, the SLAM system largely determines whether the rescue robot can complete the rescue mission. Although the current 2D Lidar-based SLAM algorithm, including its application in indoor rescue environment, has achieved much success, the evaluation of SLAM algorithms combined with path planning for indoor rescue has rarely been studied. This paper studies mapping and path planning for mobile robots in an indoor rescue environment. Combined with path planningdoi:10.1155/2020/8867937 fatcat:axqoxkvymjbgzaw74ju3zkyxt4