Mechatronic Anti-Collision System for Electric Wheelchairs Based on 2D LiDAR Laser Scan

Abstract

Electric wheelchairs make it easier for disabled and elderly people to live, move, interact, and participate in society. Moving a wheelchair in open spaces is relatively easy, but in closed and small spaces, maneuvering is difficult. Solutions to such problems for people with disabilities are applicable to a relatively small group of recipients and are mostly custom-made solutions, whose considerable cost is a significant barrier to accessibility. New technologies can provide an opportunity to improve the quality of life of people with disabilities in this aspect. Using selected elements of complex automation and control systems, cost-effective solutions can be created that facilitate the functioning of people with disabilities. This paper presents an analysis of hazards and problems when maneuvering a wheelchair in narrow passageways, as well as the authors’ solution to this problem, and the concept and assumptions of a mechatronic anti-collision system based on 2D LiDAR laser scanners. This solution is composed of a proprietary 2D rotating scanner mechanism that ensures the acquisition of 3D images of the environment around the wheelchair. Preliminary tests of this solution yielded promising results. Further research will include miniaturization of the device.