Autonomous doorpassing with the MICA power wheelchair

2005:

The MICA power wheelchair autonomously drives through a door opening[1]. It is equipped with a laser range finder, a rate gyro, and wheel encoders for odometry. An onboard PC104 was used to register sensor readings. A remote laptop, connected over WLAN, controls the testbed and processes the sensor readings.
The a Kalman filter, written in information form, is used for the sensor fusion, and the state vector consists of polar coordinates to reference objects near the doorway. The control law guides lines up the testbed along a straight line through the doorway. The prediction step in the Kalman filter is used to minimize the influence of time lag.
A pen, mounted in the front of the wheelchair, was used to draw trajectories taken by the vehicle. The trajectories was used for a repetability study.
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[1] S. Ronnback, K. Hyyppa, A. Wernersson, "On passing a doorway with an autonomous Internet connected wheelchair using MATLAB", In Proceedings of IEEE Conference on Intelligent Robots and Systems (IROS'05), Canada, 2005

Category:

Science & Technology

Tags:

• +Autonomous
• +laser
• range
• finder
• +wheelchair
• +Internet
• connected
• +MICA
• +Kalman
• Filter
• +MATLAB