A study of position tracking technology in indoor environments for autonomous wheelchair driving

Abstract

Various kinds of wheelchairs have been developed to secure mobility of the aged and disabled people foe convenience of Activity of daily living (ADL). Accurate positioning technology is necessary to secure the mobility for realization of autonomous driving technology among the versatile wheelchair functions. In case of global positioning system (GPS), which is most widely used for the provision of positioning information, it is difficult to provide the accurate indoor positioning information. This paper has suggested active RFID system to overcome such shortcomings and to embody the indoor positioning technology. The error ratio has been checked out by the active RFID system implemented in the limited test space, after making compact and low-power active RFID module, measuring Time of Arrival (ToA), and estimating the positioning information using Received Signal Strength Indication (RSSI). It has been confirmed as of the estimation result of error ratio in the test space that accurate indoor positioning can be provided within about ±2 cm deviation. Continuing research will be necessary in order to provide accurate indoor positioning information of autonomous driving wheelchair. © 2012 Springer Science+Business Media B.V.