Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
Autonomous wheelchairs are expected to help older people to transport. A previous research about autonomous driving on rough terrain, which is one of the road environments where wheelchairs are used, could not jugde traversability accurately. On the other hand, though rough terrain was not examined in any detail, another research developed a motion planning method based on traversability judgement, considering the vehicle model and road surface that causes fatal accidents during the use of wheelchairs. The purpose of this research is to develop a road surface map generation method for motion planning of autonomous wheelchairs on rough terrain. In this paper, we used visual odometry method for self-localization, and found that road surface map generated has a large error when meandering on rough terrain. By correcting self-localization based on visual odometry method with the use of IMU and vehicle speed, the error of the road surface map reduced.
