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http://dx.doi.org/10.14372/IEMEK.2021.16.6.293

Implementation of Wheelchair Robot Applying SLAM and Global Path Planning Methods Suitable for Indoor Autonomous Driving  

Baek, Su-Jin (Donga-A University)
Kim, A-Hyeon (Donga-A University)
Kim, Jong-Wook (Donga-A University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.16, no.6, 2021 , pp. 293-297 More about this Journal
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.
Keywords
Autonomous Mobile Robot; Visual SLAM; Navigation; Global Path Planning;
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