Abstract
In the present work, a robotic wheelchair navigation system which is specially designed for confined spaces is proposed. In confined spaces, the movements of wheelchairs are restricted by the environment more than other unicycle type vehicles. For example, if the wheelchair is too close to a wall, it can not rotate freely because the front or back may collide with the wall. The navigation system is composed by a path planning module and a control module; both use the environment and robot information provided by a SLAM algorithm to attain their objectives. The planning strategy uses the Monte Carlo technique to find a minimum path within the confined environment and takes into account the variance propagation in the predicted path for ensuring the safe driving of the robot. The objective of the navigation system is to drive the robotic wheelchair within the confined environment in order to reach a desired orientation or posture.
Original language | English |
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Title of host publication | 2010 IEEE International Symposium on Industrial Electronics |
Publisher | IEEE |
Pages | 2331-2336 |
Number of pages | 6 |
ISBN (Print) | 9781424463916 |
DOIs | |
Publication status | Published - 15 Nov 2010 |
Event | 2010 IEEE International Symposium on Industrial Electronics - Bari, Italy Duration: 4 Jul 2010 → 7 Jul 2010 |
Conference
Conference | 2010 IEEE International Symposium on Industrial Electronics |
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Abbreviated title | ISIE 2010 |
Country/Territory | Italy |
City | Bari |
Period | 4/07/10 → 7/07/10 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering