Authors: Dylan Schwesinger Armon Shariati Corey Montella John Spletzer
Publish Date: 2016/02/23
Volume: 41, Issue: 3, Pages: 519-538
Abstract
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 largescale 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 mapbased 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
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