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Autonomous Wheelchair: Concept and Exploration

Authors:
Rafael Berkvens
Wouter Rymenants
Maarten Weyn
Willy Loockx
Simon Sleutel

Keywords: Autonomous wheelchair, sensor fusion, FastSLAM, curvature scale space, obstacle avoidance

Abstract:
This paper is part of a larger project with as goal the construction of an autonomous wheelchair. We implemented some existing algorithms and made the first hardware setup for the project. We found that a lot of optimization is still necessary, but could indicate in what direction this research should first be aimed. For our localization approach, using FastSLAM, landmark data association is key. We use Vector Field Histograms as obstacle avoidance planning algorithm, which still has problems with local extrema. With these problems will be dealt in future research.

Pages: 38 to 44

Copyright: Copyright (c) IARIA, 2012

Publication date: September 23, 2012

Published in: conference

ISSN: 2326-9324

ISBN: 978-1-61208-235-6

Location: Barcelona, Spain

Dates: from September 23, 2012 to September 28, 2012