SLAM-based robotic wheelchair navigation system designed for confined spaces

Celso De La Cruz; Teodiano Freire Bastos; Fernando A. Auat Cheein; Ricardo Carelli

doi:10.1109/ISIE.2010.5637760

SLAM-based robotic wheelchair navigation system designed for confined spaces

Celso De La Cruz^*, Teodiano Freire Bastos, Fernando A. Auat Cheein, Ricardo Carelli

^*Corresponding author for this work

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

13 Citations (Scopus)

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
Title of host publication	2010 IEEE International Symposium on Industrial Electronics
Publisher	IEEE
Pages	2331-2336
Number of pages	6
ISBN (Print)	9781424463916
DOIs	https://doi.org/10.1109/ISIE.2010.5637760
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
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

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10.1109/ISIE.2010.5637760

Cite this

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title = "SLAM-based robotic wheelchair navigation system designed for confined spaces",

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.",

author = "{De La Cruz}, Celso and Bastos, {Teodiano Freire} and {Auat Cheein}, {Fernando A.} and Ricardo Carelli",

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language = "English",

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note = "2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 ; Conference date: 04-07-2010 Through 07-07-2010",

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AU - De La Cruz, Celso

AU - Bastos, Teodiano Freire

AU - Auat Cheein, Fernando A.

AU - Carelli, Ricardo

PY - 2010/11/15

Y1 - 2010/11/15

N2 - 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.

AB - 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.

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SLAM-based robotic wheelchair navigation system designed for confined spaces

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