Odometry-Based Route Navigation

The video shows a very short autonomous drive of the Bremen Autonomous Wheelchair "Rolland" that was trained during a previous drive. The driver only has to press the joystick, because otherwise the wheechair will stop. The drive consists of three basic behaviors in sequence: first, the wheelchair follows - from its own viewpoint - the right wall. Shortly after the first door, it switches to "turn into left door", searches for the door, and passes it. The position where the system activates this behavior is derived from the driving distance since the last corner; the actual door is found with the help of the wheelchair's sonar sensors. The drive is finished with the behavior "stop" that again is activated at a certain distance from the last "Kink", i.e. from turning into the door.

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