Particle filter localization and real time obstacle avoidance control based on 3D perception for wheelchair mobile robot

Obstacle detection and localization behaviours have shown to work robustly in 2D perceived environment. With the progress of proximity sensors, precisely the emergence of 3D vision techniques, it would be interesting to examine these motion controllers whether for 3D perceived environment. 2D basic algorithms for obstacle avoidance or robot location, needs reformulation in order to process data from 3D perception devices. In this work, we introduce a 3D obstacle detection controller, combined with particle filter localization. The obstacle detection control described in this paper address 3D obstacles with different shapes and the particle filter uses 3D environment data to correct the wheelchair localization based on his kinematics model.