DEVELOPMENT OF A SELF-DRIVING PERSONAL MOBILITY VEHICLE

Abstract

This project’s objective is to test the capability of autonomous driving on a wheelchair in an off-road environment. Self-driving research is a popular research throughout the whole world. The first step of this project builds a self-driving personal mobility vehicle as a testing platform. With the testing platform, a lot of algorithms can be deployed and tested. Multiple three-dimensional functions are developed for self-driving and is able to test on the built platform. The algorithms are tested on an autonomous electrical wheelchair with three-dimensional Lidar. A three-dimensional Lidar provides point cloud as input format. The three-dimensional algorithm is derived and upgraded from the traditional two-dimensional algorithm. The traditional two-dimensional Lidar faces limitations in the current self-driving environment. The information output from the two-dimensional Lidar is lesser compares to the three-dimensional Lidar. The introduction of three-dimensional algorithms can improve overall performance.