Robotic wheelchair with autonomous traveling capability for transportation assistance in an urban environment

Masashi Yokozuka*, Yusuke Suzuki, Naohisa Hashimoto, Osamu Matsumoto

*Corresponding author for this work

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

8 Citations (Scopus)

Abstract

To realize a new type of personal vehicle for elderly people while contributing to a low-carbon traffic society, we have been developing a robotic wheelchair with autonomous traveling and obstacle avoidance in an urban environment. In this paper, we primarily discuss two kinds of key technologies, long-distance autonomous travel in an outdoor environment and obstacle avoidance in a human-shared environment. For the localization and navigation methods, we propose sub-map dividing and realignment with FastSLAM, which enables generation of large-scale 3D voxel maps by the sampling based SLAM method. For the planning and obstacle avoidance methods, we propose motion control by a combination of the global/local A* algorithm and the dynamic window approach. To confirm the effectiveness of our proposed methods, the results of demonstration experiments using our robotic wheelchair 'Marcus' in the Tsukuba Robot Zone are also reported.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages2234-2241
Number of pages8
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/TerritoryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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