Title: Terrain identification for intelligent wheelchairs based on geometric properties computation

Authors: Yi An; Jianming Ma; Zhuo Sun; Tianqi Han; Yunhao Cui

Addresses: School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning, China ' School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning, China ' School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning, China ' School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning, China ' School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning, China

Abstract: With the development of science and technology, intelligent wheelchairs play a key role in the daily life of the elderly. Terrain identification technology plays an important role in the operation of intelligent wheelchairs. In this paper, a typical terrain identification method for road surfaces based on geometric properties computation is proposed. The identification method is divided into four steps. The first step is to collect 3D point cloud data of the terrain in the forward direction through the scanning device carried by the intelligent wheelchair. The second step is to calculate the geometric properties of the point cloud data. The third step is to identify discontinuous points in the point cloud data through the computation results of geometric properties. The fourth step is to identify the terrain according to the type and number of discontinuous points. The identification experiments show that the proposed method has high accuracy.

Keywords: intelligent wheelchair; discontinuous points; geometric properties; terrain data acquisition; terrain identification.

DOI: 10.1504/IJCAT.2023.132554

International Journal of Computer Applications in Technology, 2023 Vol.72 No.1, pp.50 - 68

Received: 12 Jul 2022
Received in revised form: 06 Oct 2022
Accepted: 26 Oct 2022
Published online: 28 Jul 2023 *

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