ROS を用いた SLAMと電動車椅子の操作支援制御

―自己位置推定値と環境地図を用いた電動車椅子の障害物回避支援制御―

抄録

With advance of aging society, the number of users of electric wheelchairs is increasing. However, operating an electric wheelchair in confined spaces requires skill because risk of collisions is high. Then opportunity of going out is lost for unskilled users. This paper presents an obstacle avoiding support system for electric wheelchairs in unknown environment where severe control is required such as a narrow way and an elevator. User’s inputs are adjusted depending on the relative position of the robot and obstacles which is estimated by SLAM (Simultaneous Localization and Mapping) using LRF (Laser Range Finder) and rotary encoders. The availability is verified in some experiments.