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

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.