Autonomous assistance navigation for robotic wheelchairs in confined spaces

Fernando Auat Cheein; Ricardo Carelli; Celso De La Cruz; Sandra Muller; Teodiano F. Bastos Filho

doi:10.1109/IEMBS.2010.5625976

Autonomous assistance navigation for robotic wheelchairs in confined spaces

Fernando Auat Cheein, Ricardo Carelli, Celso De La Cruz, Sandra Muller, Teodiano F. Bastos Filho

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Publisher	IEEE
Pages	503-506
Number of pages	4
ISBN (Print)	9781424441235
DOIs	https://doi.org/10.1109/IEMBS.2010.5625976
Publication status	Published - 11 Nov 2010
Event	32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2010 - Buenos Aires, Argentina Duration: 31 Aug 2010 → 4 Sept 2010

Conference

Conference	32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2010
Abbreviated title	EMBC'10
Country/Territory	Argentina
City	Buenos Aires
Period	31/08/10 → 4/09/10

ASJC Scopus subject areas

Biomedical Engineering
Computer Vision and Pattern Recognition
Signal Processing
Health Informatics

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10.1109/IEMBS.2010.5625976

Cite this

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title = "Autonomous assistance navigation for robotic wheelchairs in confined spaces",

abstract = "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.",

author = "Cheein, {Fernando Auat} and Ricardo Carelli and {De La Cruz}, Celso and Sandra Muller and {Bastos Filho}, {Teodiano F.}",

year = "2010",

month = nov,

day = "11",

doi = "10.1109/IEMBS.2010.5625976",

language = "English",

isbn = "9781424441235",

pages = "503--506",

booktitle = "2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society",

publisher = "IEEE",

address = "United States",

note = "32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2010, EMBC'10 ; Conference date: 31-08-2010 Through 04-09-2010",

}

Cheein, FA, Carelli, R, De La Cruz, C, Muller, S & Bastos Filho, TF 2010, Autonomous assistance navigation for robotic wheelchairs in confined spaces. in 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, pp. 503-506, 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2010, Buenos Aires, Argentina, 31/08/10. https://doi.org/10.1109/IEMBS.2010.5625976

TY - GEN

T1 - Autonomous assistance navigation for robotic wheelchairs in confined spaces

AU - Cheein, Fernando Auat

AU - Carelli, Ricardo

AU - De La Cruz, Celso

AU - Muller, Sandra

AU - Bastos Filho, Teodiano F.

PY - 2010/11/11

Y1 - 2010/11/11

N2 - 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.

AB - 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.

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DO - 10.1109/IEMBS.2010.5625976

M3 - Conference contribution

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AN - SCOPUS:78650817763

SN - 9781424441235

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BT - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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Y2 - 31 August 2010 through 4 September 2010

ER -

Autonomous assistance navigation for robotic wheelchairs in confined spaces

Abstract

Conference

ASJC Scopus subject areas

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