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RSS FeedsSensors, Vol. 18, Pages 1829: Enabling Autonomous Navigation for Affordable Scooters (Sensors)

 
 

13 june 2018 09:34:38

 
Sensors, Vol. 18, Pages 1829: Enabling Autonomous Navigation for Affordable Scooters (Sensors)
 




Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate the laser motion in real time and create synthetic mapping of simple environments with regular shapes and deep hallways. Laser range finders are suitable for long ranges with limited resolution. Stereo vision, on the other hand, provides 3D structural data of nearby complex objects. To achieve simultaneous fine-grained resolution and long range coverage in the mapping of cluttered and complex environments, we dynamically fuse the measurements from the stereo vision camera system, the synthetic laser scanner, and the LiDAR. We propose solutions to self-correct errors in data fusion and create a hybrid map to assist the scooter in achieving collision-free navigation in an indoor environment.


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65 viewsCategory: Chemistry, Physics
 
Sensors, Vol. 18, Pages 1831: Electrical and Thermal Properties of Heater-Sensor Microsystems Patterned in TCO Films for Wide-Range Temperature Applications from 15 K to 350 K (Sensors)
Sensors, Vol. 18, Pages 1830: Ultrasonic Phased Array Sparse-TFM Imaging Based on Sparse Array Optimization and New Edge-Directed Interpolation (Sensors)
 
 
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