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.
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Wang, H., Kang, CU., Ishimatsu, T. et al. Auto-navigation of a wheelchair. Artificial Life and Robotics 1, 141–146 (1997). https://doi.org/10.1007/BF02471129
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DOI: https://doi.org/10.1007/BF02471129