Locative Estimation for Navigation of Omnidirectional Movable Wheelchair

Abstract

The navigation system, that is, a wheelchair autonomously runs carrying a patient or a disorder person, needs a function to recognize its behavior. In this paper, we propose the estimate method for the location of a wheelchair with an omnidirectional motion. To estimate the location we employ the two trackballs, which set under the front side and the rear side of wheelchair. The precision of the locative estimation using trackballs is discussed by evaluating the experimental results.