Multisensor data fusion for electrical wheelchair localization using extended Kalman Filter

Abstract

The number of wheelchair users have been increased. In this paper, the wheelchair localization problem is studied. To localize the electrical wheelchair a sensor information is needed. This paper presents a data fusion technique which combine data from multiple sensor. The objective of this paper is to localize the electrical wheelchair in indoor environment using Extended Kalman Filter (EKF) algorithm and ultrasonic sensors with wheeled encoders. Also, a kinematic model of the robot is determined. The proposed method is successfully tested in simulation.