Autonomous navigation of electric wheelchairs in urban areas on the basis of self-generated 2D drivable maps

Shun Niijima, Yoko Sasaki, Hiroshi Mizoguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper details a system for an autonomous navigation of electric wheelchair in outdoor urban area. The goal for this study is to achieve autonomous navigation on paved roads including the slopes in a busy street. We propose the autonomous navigation system using '2D drivable map' that explains steps, obstacles and paved/unpaved areas. 2D drivable map generated from 3D point cloud map by robot itself. We detected smoothly connected planes and obstacles by region growing segmentation based on normal in 3D point cloud map and projected the vertically onto a 2D map. A paved/unpaved area segmentation is based on intensity of 2D map. The experimental results show the 2D drivable map correctly explains steps and obstacles in urban areas and detects changes from roads to lawns. An electric wheelchair achieved autonomous navigation in urban areas without colliding with obstacles or mounting lawns.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1081-1086
Number of pages6
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 30 Aug 2018
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 9 Jul 201812 Jul 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2018-July

Conference

Conference2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period9/07/1812/07/18

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Niijima, S., Sasaki, Y., & Mizoguchi, H. (2018). Autonomous navigation of electric wheelchairs in urban areas on the basis of self-generated 2D drivable maps. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1081-1086). [8452435] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452435