실내 자율주행에 적합한 SLAM과 전역경로생성 방법을 적용한 휠체어로봇 구현
Implementation of Wheelchair Robot Applying SLAM and Global Path Planning Methods Suitable for Indoor Autonomous Driving
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초록
This paper presents how to create a 3D map and solve problems related to generating a global path planning for navigation. Map creation and localization were performed using the RTAB-Map package to create a 3D map of the environment. In addition, when the target point is within the obstacle space, the problem of not generating a global path was solved using the asr_navfn package. The performance of the proposed system is validated through experiments with a wheelchair-type robot.
Abstract
This paper presents how to create a 3D map and solve problems related to generating a global path planning for navigation. Map creation and localization were performed using the RTAB-Map package to create a 3D map of the environment. In addition, when the target point is within the obstacle space, the problem of not generating a global path was solved using the asr_navfn package. The performance of the proposed system is validated through experiments with a wheelchair-type robot.
참고문헌 (18)
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