TY - GEN
T1 - Doorway passing of an intelligent wheelchair by dynamically generating Bézier curve trajectory
AU - Wang, Sen
AU - Chen, Ling
AU - Hu, Huosheng
AU - McDonald-Maier, Klaus
PY - 2013/4/4
Y1 - 2013/4/4
N2 - Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel strategy to address the door passing issue by dynamically generating the Bezier curve based trajectory. It consists of door finding, optimization based trajectory generation and tracking control, which are executed repeatedly to increase the ability of passing the door and improve the performance. Whenever the door is detected, the optimization method produces a new smooth reference trajectory in real time for the wheelchair to follow. The proposed approach is tested in reality to verify its feasibility and efficiency, and the experimental results show its good performance in terms of the accuracy of finding the door and passing the doorway.
AB - Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel strategy to address the door passing issue by dynamically generating the Bezier curve based trajectory. It consists of door finding, optimization based trajectory generation and tracking control, which are executed repeatedly to increase the ability of passing the door and improve the performance. Whenever the door is detected, the optimization method produces a new smooth reference trajectory in real time for the wheelchair to follow. The proposed approach is tested in reality to verify its feasibility and efficiency, and the experimental results show its good performance in terms of the accuracy of finding the door and passing the doorway.
UR - https://www.semanticscholar.org/paper/Doorway-passing-of-an-intelligent-wheelchair-by-dy-Wang-Chen/0353ee8451fec630bc3fad80de38d31f25e27282
UR - https://www.researchgate.net/publication/261309278_Bezier_curve_based_trajectory_planning_for_an_intelligent_wheelchair_to_pass_a_doorway
M3 - Conference contribution
SN - 978-1-4673-2125-9
SP - 1206
EP - 1211
BT - IEEE International Conference on Robotics and Biomimetics (ROBIO)
PB - IEEE
CY - Piscataway (New Jersey)
ER -