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

摘要：

　　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.

关键词： Lower limb rehabilitation robot Mobile platform Autonomous mapping ROS Gazebo

作者: Shi-wen TONG Yong-jie MA Ying-gang KE Shi-bo FU Guang CHENG

作者单位: Beijing Key Laboratory of Information Service Engineering,Beijing Union University,Beijing 100101,Ch College of Robotics,Beijing Union University,Beijing 100101,China College of Mechanical and Electrical Engineering,Beijing University of Chemical Technology,Beijing 1 College of Urban Rail Transit and Logistics,Beijing Union University,Beijing 100101,China

会议类型: 国际会议

会议名称: INTERNATIONAL CONFERENCE ON COMPUTATIONAL MODELING, SIMULATION AND OPTMIZATION (CMSO 2019)(2019年计算建模、仿真与优化国际会议)

会议地点: 北京

会议语种:英文

页码: 66-71

在线出版日期: 2019-11-24（万方平台首次上网日期，不代表论文的发表时间）