CanePlanner
The software framework of the Secure Path Guiding Cane(SPGC) is designed as a comprehensive system solution for blind navigation, incorporating perception, localization, planning, and control functions. All these functions are implemented on the microcomputer of the SPGC, providing a compact and efficient solution. To ensure safe navigation in complex environments, we have developed an end-to-end framework that integrates complete perception, localization, planning, and control functionalities.
1. quick start
The project has been tested on Ubuntu 18.04(ROS Melodic) and 20.04(ROS Neotic). Take Ubuntu 20.04 as an example, run the following commands to setup:
mkdir cane_ws/src
cd cane_ws/src
git clone https://github.com/2B-people/cane_planner.git
cd ..
catkin_make
After compilation you can start the simulation by:
source devel/setup.bash && roslaunch plan_manage sim_kinplan.launch
You will find the random map and the drone in Rviz. You can select goals for the drone to reach using the 2D Nav Goal and 2D Pose Estimate tool.
2. Algorithms
The project contains Enhancing Indoor Navigation for Visually Impaired Individuals with Secure Path Generation:
- Safe walking path Generation
- esdf mapping
- plvins supported
- realtime perception planning strategy
3.detail
TODO