Choi, Myungchul (Korea National University of Science and Technology), Lee, Homin (Korea National University of Science and Technology), Koo, A Yeong (Korea National University of Science and Technology), Koo, Keonwoo (Sungkyunkwan University), Yun, Dongho (Korea National University of Science and Technology)

An Indoor-Outdoor Autonomous Wheelchair Platform with UWB-Assisted Localization

Scheduled for presentation during the Late Breaking Results "Late Breaking Results II" (FriPS2), Friday, July 17, 2026, 11:00−12:30, Foyer

2026 23rd International Conference on Ubiquitous Robots (UR), July 15-18, 2026, Osaka, Japan

This information is tentative and subject to change. Compiled on August 22, 2026

Abstract

This paper presents a Late-Breaking Results report on an autonomous wheelchair platform designed for future indoor–outdoor mobility support. The platform integrates a 3D LiDAR, RGB camera, IMU, wheel odometry, UWB modules, GNSS, and ROS 2-based control modules on an embedded NVIDIA Jetson computer. At the current stage, preliminary experiments were conducted separately in indoor and outdoor environments rather than as a fully continuous indoor–outdoor navigation scenario. Indoor experiments focused on UWB-assisted localization in GNSS-denied spaces, where the final drift was reduced from 0.82 m to 0.31 m compared with odometry-only estimation. Stopping behavior was also evaluated in both indoor and outdoor environments under static-obstacle and pedestrian-crossing scenarios. Across 40 stopping trials, the platform achieved 35 successful stops, including 19/20 trials for static obstacles and 16/20 trials for pedestrian-crossing scenarios. These preliminary results demonstrate the feasibility of the proposed wheelchair platform and provide a basis for future continuous indoor–outdoor navigation and quantitative safety evaluation.