Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of a DGPS-Based Localization and Semi-Autonomous Path Following System for Electric Scooters

전동 스쿠터를 위한 DGPS 기반의 위치 추정 및 반 자율 주행 시스템 개발

  • 송의규 (한국과학기술연구원 미래융합기술연구본부 영상미디어센터) ;
  • 김병국 (KAIST 정보과학기술대학 전기및전자공학과)
  • Received : 2010.11.16
  • Accepted : 2011.04.26
  • Published : 2011.07.01
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Abstract

More and more elderly and disabled people are using electric scooters instead of electric wheelchairs because of higher mobility. However, people with high levels of impairment or the elderly still have difficulties in driving the electric scooters safely. Semi-autonomous electric scooter system is one of the solutions for the safety: Either manual driving or autonomous driving can be used selectively. In this paper, we implement a semi-autonomous electric scooter system with functions of localization and path following. In order to recognize the pose of electric scooter in outdoor environments, we design an outdoor localization system based on the extended Kalman filter using DGPS (Differential Global Positioning System) and wheel encoders. We added an accelerometer to make the localization system adaptable to road condition. Also we propose a path following algorithm using two arcs with current pose of the electric scooter and a given path in the map. Simulation results are described to show that the proposed algorithms provide the ability to drive an electric scooter semi-autonomously. Finally, we conduct outdoor experiments to reveal the practicality of the proposed system.

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References

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