A smart wheelchair ecosystem for autonomous navigation in urban environments
A smart wheelchair ecosystem for autonomous navigation in urban environments
复制标题
用于城市环境中自主导航的智能轮椅生态系统
作者：
D. Schwesinger;Armon Shariati;Corey Montella;J. Spletzer
在本文中，我们提出了一个系统级的方法，智能轮椅系统（SWS）在城市环境中的导航。拟议的SWS生态系统有两个主要组成部分：一个地图服务，生成大规模的地标地图，和SWS车辆本身，这是一个客户端的地图服务。SWS原型集成了3D LIDAR/成像系统，可在非结构化的户外环境中提供强大的感知。它还利用这些相同的传感器进行基于地图的定位。为了证明该方法的有效性，SWS在典型的城市环境中自主导航超过12公里的距离，而不会失去定位，并且不使用GPS。
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.
DOI：
10.1109/icra.2012.6224996
发表时间：
2012-05
期刊：
2012 IEEE International Conference on Robotics and Automation
影响因子：
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作者：
Ian A. Baldwin;P. Newman
通讯作者：
Ian A. Baldwin;P. Newman