Realization of Autonomous Mapping and Path Planning in a Lower Limb Rehabilitation Robot Moving Platform

SHI-WEN TONG, YONG-JIE MA, YING-GANG KE, SHI-BO FU, GUANG CHENG

Abstract


Map construction is a key technique for the indoor navigation and positioning, which is widely used in the robot mobile platform. This paper has designed and realized an autonomous mapping and path planning method for the lower limb rehabilitation robot moving platform. The method is completed by a Python program and functional packages in ROS. Simulations in Gazebo environment are carried out and the experiments oriented to the real scenarios are also presented. It is proved that the proposed method is very effective

Keywords


Lower limb rehabilitation robot, Mobile platform, Autonomous mapping, ROS, Gazebo.Text


DOI
10.12783/dtcse/cmso2019/33596

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