Landmark-Based Route-Following

The wheelchair carries out four basic behaviors that are switched by the detection of artificial routemarks. Black discs on white background with an embedded scan-code are used as routemarks. These are searched for and detected by a camera that is mounted on a pan-tilt-head.

First, the wheelchair follows the left wall until it detects the first mark. Then, it follows the right wall and turns into the open door in the right wall after it has detected the second routemark. At the third and last mark, it stops.

Finally, the successor of the wheelchair can be seen that is still under construction.

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