SELF DRIVING

SELF DRIVING

 

The Biometric Autonomous Droid (BAD-2024) wheelchair features a self-driving system designed for indoor navigation. This system uses a combination of sensors and algorithms to autonomously map and navigate its environment. Key components include:

• Google Cartographer: An open-source library for real-time simultaneous localization and mapping (SLAM). This allows the wheelchair to create a 2D or 3D map of its surroundings without relying on GPS, which is ineffective indoors.
• Inputs:
  • LiDAR Sensor Data: Provides real-time scans of the environment to detect obstacles and free space.
  • Odometry Data: Used to track wheel rotations and estimate movement, enhancing localization accuracy.
  • IMU Data: Provides information on acceleration and angular velocity, helping the wheelchair determine its orientation.
• Outputs:
  • Occupancy Grid Maps: These maps represent the environment with information about occupied and free spaces, used for path planning and obstacle avoidance.
  • Pose Estimation: Continuously updates the wheelchair’s position and orientation in the environment.
  • Trajectory Information: Tracks the wheelchair’s path over time to optimize future navigation.
• Obstacle Recognition: The system uses LiDAR data to identify, track, and classify obstacles in real time. It can alert the user to dynamic obstacles or reroute if necessary.

This advanced self-driving system ensures the wheelchair can navigate safely and efficiently within a single-floor indoor environment, improving user autonomy and reducing the need for external assistance.