Maps managing interface design for a mobile robot navigation governed by a BCI

Fernando A. Auat Cheeín*, Ricardo Carelli, Wanderley Cardoso Celeste, Teodiano Freire Bastos, Fernando Di Sciascio

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)

Abstract

In this paper, a maps managing interface is proposed. This interface is governed by a Brain Computer Interface (BCI), which also governs a mobile robot's movements. If a robot is inside a known environment, the user can load a map from the maps managing interface in order to navigate it. Otherwise, if the robot is in an unknown environment, a Simultaneous Localization and Mapping (SLAM) algorithm is released in order to obtain a probabilistic grid map of that environment. Then, that map is loaded into the map database for future navigations. While slamming, the user has a direct control of the robot's movements via the BCI. The complete system is applied to a mobile robot and can be also applied to an autonomous wheelchair, which has the same kinematics. Experimental results are also shown.

Original languageEnglish
Article number012088
JournalJournal of Physics: Conference Series
Volume90
DOIs
Publication statusPublished - 5 Dec 2007

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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