Virtual Environment Modelling using Simulated Laser Scanners

Life quality of people with sever motor disabilities can be improved by developing and inventing new assistive technologies. In this context, it is proposed to develop a semiautonomous electric wheelchair that has capabilities of navigating through various environments which include different types and sizes of obstacles. This paper describes a methodology to use a range laser scanner mounted on an electric wheelchair to map different environments. The electric wheelchair is simulated in a virtual environment and is developed at the Neurophysiology Laboratory of University of Strathclyde. Mapping the environment is dependent on the information provided by the range laser. An algorithm was developed in MATLAB to record the data received by the range laser and use the data to map the environments and produce a 2D map. The suggested algorithm has been tested using two virtual environments representing rooms with different features. The results showed that range laser scanner can be used on an electric wheelchair platform for efficient mapping of the environment.