Solution to a door crossing problem for an autonomous wheelchair

Fernando Auat Cheein, Celso De La Cruz, Ricardo Carelli, Teodiano F. Bastos-Filho

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

20 Citations (Scopus)

Abstract

This paper proposes a solution to a door crossing problem in unknown environments for an autonomous wheelchair. The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model is implemented on the vehicle to direct the wheelchair motion along the path in a smooth movement. An EKF feature-based SLAM is also implemented on the vehicle which gives an estimate of the wheelchair pose inside the environment. The SLAM allows the map reconstruction of the environment for future safe navigation purposes. The entire system is evaluated in a real time simulator of a robotic wheelchair.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
PublisherIEEE
Pages4931-4936
Number of pages6
ISBN (Electronic)9781424438044
DOIs
Publication statusPublished - 15 Dec 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems - St. Louis, United States
Duration: 11 Oct 200915 Oct 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2009
Country/TerritoryUnited States
CitySt. Louis
Period11/10/0915/10/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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