Estimating the drivable area of a mobile robot using a 3D point cloud

Abstract

Mobile robots, such as self-driving wheelchairs, need to be able to recognize bumps in door sill and gutters in order to move safely. If the robot does not recognize the bumps and moves forward at a certain speed, it may not be able to get over the bumps or may fall down. In this research, we propose a method for recognizing obstacles such as bumps and reflecting them on a local map to ensure safe autonomous movement.