Abstract
In this paper, we propose a driving assist system for electric wheelchair. In several countries as the rate of senior citizens increases, the number of electric wheelchair users and the accidents by the senior becomes larger. To decrease these numbers, the wheelchair can avoid or stop before the confliction with the obstacles, is needed. Using the pointcloud from tilted 2D LiDAR, we construct the environment map around own position and generate the practicable paths. Considering the driver's command, safety, and smoothness, the path is selected and followed finally. To prove the validity of our method, we ride on the wheelchair and drive the several environment in our campus.
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