Doorway passing of an intelligent wheelchair by dynamically generating Bézier curve trajectory

Sen Wang, Ling Chen, Huosheng Hu, Klaus McDonald-Maier

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics (ROBIO)
Place of PublicationPiscataway (New Jersey)
PublisherIEEE
Pages1206-1211
Number of pages6
ISBN (Electronic)978-1-4673-2127-3
ISBN (Print)978-1-4673-2125-9
Publication statusPublished - 4 Apr 2013

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    Wang, S., Chen, L., Hu, H., & McDonald-Maier, K. (2013). Doorway passing of an intelligent wheelchair by dynamically generating Bézier curve trajectory. In IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1206-1211). [6491134] IEEE.