A Study on the UWB/Encoder/IMU Sensor Fusion Position Estimation System for the Development of Driving Assistance Technology in Autonomous Driving Wheelchairs

Abstract

As the number of people who need electric wheelchairs increases around the world, there is a lot of demand, but there are many people who cannot use them because they are difficult to operate. Accordingly, the introduction of autonomous driving technology is being studied for wheelchairs that do not require separate manipulation. Currently, such autonomous driving is based on Map, but it is difficult to have Map in all environments. Thus, it is necessary to develop driving assistance technology in a Mapless environment. This study focuses on the position estimation system by fusion of UWB/Encoder/IMU for the development of driving assistance systems in the Mapless environment of wheelchairs.