A Study on Gathering Staircase Information for Active Staircase Entry of Wheelchair Stair Climbing Assistive Devices

Su-Hong Eom, Jeon-Min Kang, Ga-Young Kim, Eung-Hyuk Lee

2023

Abstract

Wheelchairs are the most commonly used auxiliary devices by people with mobility impairments, and autonomous driving technology has recently been applied to these wheelchairs using robot technology. However, in an autonomous driving environment, most stairs are recognized as obstacles. For autonomous driving on stairs, recognition of stairs information must be preceded. Currently, the classification of stairs into stairs and non-stairs is performed based on vision sensors and can be determined by a high recognition rate. However, the measurement and estimation of the riser height value, tread depth value, and angle of pitch value of stairs are not. Therefore, this study proposes a method of obtaining the shape information of stairs using 2D LiDAR. The proposed method measured the riser height and tread depth of stairs using the K-Means and RANSAC algorithm after obtaining the raw data by rotating the 2D LiDAR by 90 degrees, and based on this, the angle of pitch value was calculated. The riser height and tread depth values were determined by about ±13mm on average, and the angle of pitch value showed the accuracy of ±1° accuracy through applying a quantitative verification method for the proposed method.

Paper Citation

in Harvard Style

Eom S., Kang J., Kim G. and Lee E. (2023). A Study on Gathering Staircase Information for Active Staircase Entry of Wheelchair Stair Climbing Assistive Devices. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 747-753. DOI: 10.5220/0012255700003543

in Bibtex Style

@conference{icinco23,
author={Su-Hong Eom and Jeon-Min Kang and Ga-Young Kim and Eung-Hyuk Lee},
title={A Study on Gathering Staircase Information for Active Staircase Entry of Wheelchair Stair Climbing Assistive Devices},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={747-753},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012255700003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Study on Gathering Staircase Information for Active Staircase Entry of Wheelchair Stair Climbing Assistive Devices
SN - 978-989-758-670-5
AU - Eom S.
AU - Kang J.
AU - Kim G.
AU - Lee E.
PY - 2023
SP - 747
EP - 753
DO - 10.5220/0012255700003543
PB - SciTePress