Real-time navigation and mapping framework for the SURENA humanoid robot using RTAB-Map and ROS. Case Study Using RTAB-Map on SURENA V
This repository contains the implementation and simulation results of our work presented at The 33rd Annual International Conference of the Iranian Society of Mechanical Engineers (ISME 2025).
Paper title: Real-Time Navigation and Mapping for Humanoid Robots: A Case Study Using RTAB-Map on SURENA V
Authors: Sara Rahmati Kookandeh, Aghil Yousefi-Koma
We present a robust navigation framework for humanoid robots integrating RTAB-Map-based SLAM with advanced path-planning techniques. Using the SURENA V robot simulated in ROS + Choreonoid environments, our system enables autonomous locomotion in complex, dynamic settings.
/src: Code for SLAM, path planning, and motion control./config: Calibration data and robot models./simulation_results: Output maps, screenshots, and videos from simulations./paper: Our ISME2025 conference paper and presentation.
- Requirements:
- ROS Noetic / Humble
- Choreonoid Simulator
- RTAB-Map ROS Package
- Run Simulation:
roslaunch launch/main_navigation.launch