Trajectory Planning for a Stair-Climbing Mobility System Using Laser Distance Sensors

This paper describes trajectory planning for a stair-climbing mobility system (SCMS). The planning is based on the results obtained from an estimation of the dimensions of the stairs. The strategy used to estimate the stairs' dimensions considers scanning the surface of the stairs using two laser distance sensors, which are attached to the chassis of the system. This strategy can be also used to calculate the distance from the system to the...