Autonomous/semi-autonomous navigation system of a wheelchair by active ultrasonic beacons

Seki, Hiroaki; Kobayashi, Shinya; Kamiya, Yûji; Hikizu, Masatoshi; Nomura, Hisanao

doi:10.1109/robot.2000.844788

Cited by 17 publications

(9 citation statements)

References 6 publications

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“…Common semi-autonomous approaches [11][12][13] might be competitive, however with the drawback of having to provide timely precise commands in cruise control mode (risk of missing an intersection). Furthermore, the selection of a command is generally done on a predefined menu with a fixed amount of available commands, which is not always optimal.…”

Section: Discussionmentioning

confidence: 99%

Brain-coupled interaction for semi-autonomous navigation of an assistive robot

Perrin

Chavarriaga

Colas

et al. 2010

Robotics and Autonomous Systems

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Low throughput user interface Bayesian programming Brain-computer interface Neurorobotics EEG Error-related potentials a b s t r a c t This paper presents a novel semi-autonomous navigation strategy designed for low throughput interfaces. A mobile robot (e.g. intelligent wheelchair) proposes the most probable action, as analyzed from the environment, to a human user who can either accept or reject the proposition. In the case of refusal, the robot will propose another action, until both entities agree on what needs to be done.In an unknown environment, the robotic system first extracts features so as to recognize places of interest where a human-robot interaction should take place (e.g. crossings). Based on the local topology, relevant actions are then proposed, the user providing answers by means of a button or a brain-computer interface (BCI). Our navigation strategy is successfully tested both in simulation and with a real robot, and a feasibility study for the use of a BCI confirms the potential of such an interface.

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Section: Discussionmentioning

confidence: 99%

Brain-coupled interaction for semi-autonomous navigation of an assistive robot

Perrin

Chavarriaga

Colas

et al. 2010

Robotics and Autonomous Systems

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“…Seki et al [3], presented autonomous and semiautonomous navigation system of a powered wheelchair for disabled people and nursing staffs. Three types of navigation was proposed to help users.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy controller based subsumption behavior architecture for autonomous robotic wheelchair

Zal

Chen

Chi

et al. 2013

2013 International Conference on Advanced Robotics and Intelligent Systems

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This paper presents the design and implementation of fuzzy controller based subsumption behavior architecture for controlling an autonomous robotic wheelchair. Behaviors of autonomous robotic wheelchair generally developed with one or more basic behaviors such as goal seeking, wall following, obstacle avoidance and finding target based on different environmental conditions. Therefore, to maximize the navigation performance, fuzzy controller based subsumption behavior architecture is proposed as a sensor fusion algorithm and to find most suitable robotic wheelchair behavior according to environment condition. The arbitrate competition is used to decide which behavior controller has a higher priority, then robotic wheelchair can be controlled by the highest priority behavior during the robotic wheelchair movement towards the goal or target. In order to verify our approach, a robotic wheelchair is controlled with a microcontroller for motion control and sensors information acquisition, personal computer connects to a web-camera for visual localization. The experiment of simulation and test results were presented to show the validity of the proposed method.

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“…An important objective in this field is to design versatile systems, which adapt to the user level of disability by offering various human-robot interfaces and various levels of interaction. Semi-autonomous navigation systems for wheelchairs, which adapt to the patient autonomy level (Fioretti et al 2000;Seki et al 2000;Kitagawa et al 2001), or provide users with driving assistance (Yanko 1998) are an example of this approach. Moreover, it should be possible to collect signals for controlling robots in an 'intelligent home' from different sources depending on the user residual abilities (e.g., vision based signals Rao et al 2002, electro-encephalographic brain signals Belic et al 2005, or hand gestures Do et al 2005.…”

Section: Introductionmentioning

confidence: 99%

A multimode navigation system for an assistive robotics project

et al. 2008

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Assistive technology is an emerging area, where robotic devices can help individuals with motor disabilities to achieve independence in daily activities. This paper deals with a system that provides remote control of Sony AIBO, a commercial mobile robot, within the assistive project ASPICE. The robot can be controlled by various input devices, including a Brain-Computer Interface. AIBO has been chosen for its friendly-looking aspect, in order to ease interaction with the patients. The development of the project is described by focusing on the design of the robot navigation system. Single step, semi-autonomous and autonomous navigation modes have been realized to provide different levels of control. Automatic collision avoidance is integrated in all cases. Other features of the system, such as the video feedback from the robotic platform to the user, and the use of AIBO as communication aid, are briefly described. The performance of the navigation system is shown by simulations as well as experiments. The system has been clinically validated, in order to obtain a definitive assessment through patient feedback. © 2008 Springer Science+Business Media, LLC

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Autonomous/semi-autonomous navigation system of a wheelchair by active ultrasonic beacons

Abstract: This paper describes the autonomous and semi-au-

Cited by 17 publications

References 6 publications

Brain-coupled interaction for semi-autonomous navigation of an assistive robot

Brain-coupled interaction for semi-autonomous navigation of an assistive robot

Fuzzy controller based subsumption behavior architecture for autonomous robotic wheelchair

A multimode navigation system for an assistive robotics project

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