Applying Simultaneous Localization and Mapping (SLAM), Simulation, and Surveys to Planning Wheelchair-Accessible Homes

This paper explores the use of technology in assessing wheelchair accessibility in existing and newly built homes. Our investigation was divided into two parts. The first part applied simultaneous localization and mapping (SLAM) and computer simulation technologies to existing homes to evaluate them for wheelchair accessibility. The second part considered the possibility of converting new houses in New Taipei City into accessible houses for wheelchair users, specifically focusing on kitchen design as a test case. Tasks in the first part of this study include the autonomous robot car, computer-aided simulation, SLAM, and field testing. The goal was to evaluate the possibility of employing robotic technologies for helping modify existing homes in order to make them more accessible by a wheelchair. The investigation started with LiDAR integration into an inexpensive autonomous robot car by designing and assembling hardware as well as integrating software. Then SLAM was employed to map the floor plan of a home, while the software for simulating a robot was used for modeling a wheelchair movement inside the house. Finally, field tests were conducted in the actual home environment and the methodology was analyzed. In the second part of the investigation, 137 floor plans of new homes in New Taipei City were analyzed and classified into eleven types. The study used the chi-square test to assess which home types are most suited for accessible-kitchen modification, and no specific type was found to be particularly suited for this purpose. The study indicated that only 30.7% of the kitchens could be adapted to become wheelchair-friendly. However, 69.3% of kitchens in new homes were discovered to be inappropriate for adapting to accommodate wheelchair accessibility. The identified problems included a stretched kitchen layout, a narrow space, undersized kitchen, poor traffic, and kitchen located near entrance. The study showed that these methods can help wheelchair users who are planning to make their homes wheelchair-accessible.