Autonomous Wheelchair Navigation in Unmapped Indoor Environments

被引:0
作者
Grewal, Harkishan Singh [1 ]
Jayaprakash, Neha Thotappala [1 ]
Matthews, Aaron [1 ]
Shrivastav, Chinmay [1 ]
George, Kiran [1 ]
机构
[1] Calif State Univ Fullerton, Coll Engn & Comp Sci, Dept Comp Engn, Fullerton, CA 92831 USA
来源
2018 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC): DISCOVERING NEW HORIZONS IN INSTRUMENTATION AND MEASUREMENT | 2018年
基金
美国国家科学基金会;
关键词
Unmapped indoor navigation; Computer Vision; Machine Learning; Ranging-LIDAR;
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Recent developments in robot automation have fostered the development of many assistive devices to improve the quality of life for individuals with disabilities. Notable among these devices are autonomous wheelchairs, which are capable of navigating to given destinations while avoiding obstacles. However, the method of destination selection and navigation in unmapped indoor environments remains a challenge for these autonomous wheelchairs. In this work, a novel approach to selecting a destination for an autonomous wheelchair in an unmapped indoor environment using a camera, ranging LIDAR, and computer vision is presented. The system scans the environment at startup and compiles a list of possible destinations for a user to easily make an selection. The proposed system was tested in a simulated shopping mall environment where destinations included various stores. The computer vision system was tested with images of store-fronts at various distances and angles. Ten trials were conducted to test the navigation system with destinations at close-range, mid-range, and long-range. The system successfully navigated to the destination in 100% of the trials for close-range destinations and 90% of the trials for mid-range and long-range destinations. Based on these results, we conclude the proposed design is a promising means of destination selection for autonomous wheelchairs in unmapped indoor environments for individuals with severe disabilities.
引用
收藏
页码:1998 / 2003
页数:6
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