An Autonomous Navigation Method using 2D LiDAR for Structured Indoor Environments

This paper introduces a method to integrate an autonomous navigation feature into a mobility system. This method consists of adding an inexpensive 2D LiDAR sensor to control the steering of the mobility system and involves capturing and processing sensor data in real-time. The LiDAR data is converted to a steering command which controls the steering system of the vehicle in structured indoor environments such as hallways and passageways. Automatically controlling the steering of the vehicle enables one to guide it through predetermined paths and introduces a degree of autonomy to the system. A control algorithm using LiDAR measurements is explained and a use case is expounded in this paper. Ultimately, the method outlined in this paper guides one through the process of equipping a vehicle with an autonomous navigation subsystem that is optimized for indoor navigation in structured environments.