Autonomous Assistance Navigation for Robotic Wheelchairs in Confined Spaces

被引：3

作者：

Auat Cheein, Fernando ^{[1
]}

Carelli, Ricardo ^{[1
]}

De la Cruz, Celso ^{[2
]}

Muller, Sandra ^{[2
]}

Bastos Filho, Teodiano F. ^{[2
]}

机构：

[1] Natl Univ San Juan, Inst Automat, San Juan, Argentina

[2] Univ Fed Espirito Santo, Dept Elect Engn, Espirito Santo, Brazil

来源：

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2010年

关键词：

D O I：

10.1109/IEMBS.2010.5625976

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, -90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

引用

页码：503 / 506

页数：4

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