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Guide Following Control Using Laser Range Sensor for a Smart Wheelchair
Koji Miyazaki,Masafumi Hashimoto,Masanari Shimada,Kazuhiko Takahashi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a guide following control(adriving support control) for a smart electric wheelchair, so that the wheelchair can follow a preceding person(guide). A walking guide is obtained from lasers can images by a nin-vehicle laser range sensor based on Kalman filter and data association, and the guide foot print is estimated. Based on position data of the foot print, acubicspline generate satarget path for the wheelchair. The wheelchair is controlled so that it can move along the guide foot print at a constant gap between the wheelchair and the guide. The experimental result validated the feasibility of the control method.