SLAM-Based Autonomous Indoor Navigation System For Electric Wheelchairs

被引：1

作者：

Lakmal, I. Tharindu ^{[1
]}

Perera, K. L. A. Nuwan ^{[1
]}

Sarathchandra, H. A. Harindu Y. ^{[1
]}

Premachandra, Chinthaka ^{[2
]}

机构：

[1] Wayamba Univ Srilanka, Dept Elect, Kuliyapitiya, Sri Lanka

[2] Shibaura Inst Technol Tokyo, Grad Sch Engn & Sci, Tokyo, Japan

来源：

2020 INTERNATIONAL CONFERENCE ON IMAGE PROCESSING AND ROBOTICS (ICIPROB 2020 | 2020年

关键词：

automated wheelchair; SLAM; 2d LiDAR; ROS;

D O I：

10.1109/ICIP48927.2020.9367336

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Commercial electric wheelchairs have become cheaper due to the development of related technologies and equipment in recent years. Most of them need the user to control directions using joysticks or handles in order to navigate in indoor environments. This paper presents the development of an indoor autonomous navigation system for electric wheelchairs. The developed system uses 2d lidar to scan obstacles, walls around it and then create a map of its surrounding and localize itself in the map while moving autonomously in indoor environments without inputs from a user. The system is integrated using hardware which is safe for humans and uses open-source software which permits easy and safe integration with an existing electric wheelchair

引用

页数：6

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