ISSN:
1614-7456
Keywords:
Self-localization
;
Wheelchair
;
Obstacle avoidance
;
Landmark
;
Slit-laser
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
Notes:
Abstract This paper presents an autonomous wheelchair system with the capability of self-localization and obstacle avoidance. In our system, the ceiling lights are chosen as landmarks to realize the self-localization of the wheelchair, and a laser range-finder is used for obstacle avoidance. First the approaches of landmark recognition and selflocalization for the wheelchair are proposed. Then the principle of obstacle avoidance using a laser range-finder is described. Finally, the total system of the wheelchair is introduced and a navigational experiment is described. Experimental results indicate the effectiveness of our system.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF02471129
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