3D detection of obstacle distribution and mapping for tactile stimulation

In walking guide system for a blind pedestrian, it is needed to detect an obstacle distribution in walking space not only 2D but space including pendent and/or protruded obstacles, and feedback to the blind for safe walking. The obstacle information is transferred to a blind pedestrian by a tactile stimulation. Based on the obstacle information a user plans walking route, and controls the walking guide system. In this paper, the methods for a 3D obstacle detection using ultrasonic sensors and mapping to an array type tactile stimulator are proposed. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping for tactile stimulation are verified through the experiment.