An Improved Localization and Navigation Method for Intelligent Wheelchair In Narrow and Crowded Environments

JiaoLong as an intelligent wheelchair is designed to assist elders with mobility and cognitive ability impairment. This paper describes an improved localization and navigation algorithm which runs on JiaoLong. In narrow and crowded environments, the improved particle filter localization algorithm estimates the belief of laser range finder observations and odometer data. The predicted wheelchair position is gained according to the observed information and predicted model. Another focus of this paper is navigation and docking in narrow spaces; a trajectory planed method is used for docking configuration. Experiments of localization and navigation under real environments are designed to validate the system.