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Smart wheelchair perception using odometry, ultrasound sensors, and camera

Published online by Cambridge University Press:  01 March 2009

O. Horn  and
M. Kreutner
O. Horn*
Affiliation:
Laboratoire d'Automatique des Systèmes Coopératifs (L.A.S.C.), 7 rue Marconi, 57070 METZ, France.
M. Kreutner
Affiliation:
Laboratoire d'Automatique des Systèmes Coopératifs (L.A.S.C.), 7 rue Marconi, 57070 METZ, France.
*
*Corresponding author. E-mail: [email protected].
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Summary

This paper deals with the perception mode of smart wheelchairs. First we evoke the many mobility aid prototypes developed in rehabilitation robotics by considering the point of view of perception. Then we describe the localization mode of the VAHM**. We show how the odometric, ultrasound, and vision sensors are used in a complementary way in order to locate the wheelchair in its known environment. The mode of adjustment of the odometric position by the least-squared method using ultrasonic measurements is detailed. Then the use of vision to perceive the vertical segments of the environment so as to refine the orientation is presented. The results of the tests carried out on the wheelchair are given and commented.

Keywords

Smart wheelchairLocalizationUltrasonic sensorsVision
Type
Article
Information
Robotica , Volume 27 , Issue 2 , March 2009 , pp. 303 - 310
Copyright
Copyright © Cambridge University Press 2008

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