Fig. 1. Experiment platform of driverless wheelchair. (a) General structure drawing; (b) encoder wheel odometer

Fig. 2. Schematic diagram of laser odometer

Fig. 3. Trajectory comparison of PLICP and RF2O algorithms. (a) Simulation environment; (b) trajectory

Fig. 4. Schematic diagram of dual odometer positioning

Fig. 5. Process chart of multi-sensor fusion location

Fig. 6. Two kinds of experimental environment. (a) Without slope; (b) with slope

Fig. 7. Comparison of predicted trajectory between DEKF fusion algorithm, encoder odometer and actual trajectory.（a） Without slope； （b） with slope

Fig. 8. Location error. (a) Without slope; (b) with slope