Autonomous Robots

, Volume 41, Issue 3, pp 519–538 | Cite as

A smart wheelchair ecosystem for autonomous navigation in urban environments

  • Dylan Schwesinger
  • Armon Shariati
  • Corey Montella
  • John Spletzer
Article

Abstract

In this paper, we present a system level approach to smart wheelchair system (SWS) navigation in urban environments. The proposed SWS ecosystem has two primary components: a mapping service which generates large-scale landmark maps, and the SWS vehicle itself, which is a client of the mapping service. The SWS prototype integrates 3D LIDAR/imaging systems which provide robust perception in unstructured, outdoor environments. It also leverages these same sensors for map-based localization. In demonstrating the efficacy of the approach, the SWS navigated autonomously over a distance of more than 12 km in a representative urban environment without once losing localization, and without the use of GPS.

Keywords

Service robots Smart wheelchair system Large scale mapping Navigating urban environments 

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Copyright information

© Springer Science+Business Media New York 2016

Authors and Affiliations

  • Dylan Schwesinger
    • 1
  • Armon Shariati
    • 1
  • Corey Montella
    • 1
  • John Spletzer
    • 1
  1. 1.Lehigh UniversityBethlehemUSA

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