Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

Baklouti, Emna; Amor, Nader Ben; Jallouli, M. Jallouli

doi:10.7305/automatika.2017.02.1421

Cited by 9 publications

(3 citation statements)

References 8 publications

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“…In this study, an efficient, socially acceptable autonomous tourfollowing behavior was developed. In another work about autonomous wheelchairs [7], RGB-D camera was used as the main perception sensor, and the map of the environment is constructed from this. Ref.…”

Section: Introductionmentioning

confidence: 99%

Conversion of a Conventional Wheelchair into an Autonomous Personal Transportation Testbed

Sezer¹,

Zengin²,

Houshyari³

et al. 2020

Service Robotics

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Personal transportation is the act of transporting an individual by using a small, low-speed vehicle. It is a very hot research topic both in industry and academia. There are many different types of personal transportation vehicles, and wheelchairs are one of them. Autonomous driving is another very popular subject that is applicable to the personal transportation vehicles. Autonomous personal transportation vehicles are good examples of service robotics applications. In this study, conversion procedure of a conventional electric wheelchair into an autonomous personal transportation testbed and the application of some basic autonomous driving algorithms on the developed testbed are explained. In literature, there are several studies providing information on wheelchairs' autonomy but not deep information about the conversion itself. In this paper, the conversion process is investigated in detail, under two main sections. The first part is by-wire conversion, which allows the wheelchair to be controlled via computer commands. The second part includes the studies on sensors, computational system, and human interface. After making such modifications on wheelchair, fundamental algorithms required for autonomy, such as mapping and localization, are implemented successfully. The results are promising for the usage of the developed system as a testbed for examining new autonomous algorithms and evaluating the performance of the perceptional/computational components.

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Section: Introductionmentioning

confidence: 99%

Conversion of a Conventional Wheelchair into an Autonomous Personal Transportation Testbed

Sezer¹,

Zengin²,

Houshyari³

et al. 2020

Service Robotics

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“…In this context, robotic assistive solutions can increase wheelchair navigation safety. Indeed, navigation support can be supplied in the form of autonomous [2] [3] or semi-autonomous [4] assistance [5]. However, the existing navigation assistance technologies are currently restricted to indoor environment.…”

Section: Introductionmentioning

confidence: 99%

A shared control solution for safe assisted power wheelchair navigation in an environment consisting of negative obstacles: a proof of concept

Devigne

Pasteau

Carlson

et al. 2019

2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)

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Power wheelchairs allow people with motor disabilities to have more mobility and independence. However, driving safely such a vehicle is a daily challenge particularly in urban environments while navigating on sidewalks, negotiating curbs or dealing with uneven grounds. Indeed, differences of elevation have been reported to be one of the most challenging environmental barrier to negotiate, with tipping and falling being the most common accidents power wheelchair users encounter. It is thus our challenge to design assistive solutions for power wheelchair navigation in order to improve safety while navigating in such environments. To this aim, we propose a shared-control algorithm which provides assistance while navigating with a wheelchair in an environment consisting of negative obstacles. We designed a dedicated sensor-based control law allowing trajectory correction while approaching negative obstacles e.g. steps, curbs, descending slopes. This shared control proposed method takes into account the humanin-the loop factor. In this study, our solution the ability of our system to ensure a safe trajectory while navigating on a sidewalk is demonstrated through simulation, thus providing a proof-of-concept of our method.

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“…In this context, many research teams are involved in the development of solutions to assist in the driving of electric wheelchairs. Indeed, driving assistance can be provided in the form of autonomous [2][3] or semi-autonomous [4][5] assistance but are so far restricted to indoor use because they do not provide assistance with respect to negative obstacles.…”

Section: Introductionmentioning

confidence: 99%

Assisting power wheelchair driving on a sidewalk: A proof of concept

Devigne¹,

Pasteau²,

Borgne³

et al. 2018

MMC_C

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The use of a power wheelchair allows to maintain mobility by providing better access to daily activities and thus positive impact on the quality of life. However, driving a power wheelchair is a complex task, particularly within an environment consisting of negative obstacles (e.g. steps, sidewalk edges). In this context, falling accidents can occur while driving a power wheelchair on a sidewalk. Therefore, driving assistance is required to prevent from falling off a curb edge. In order to meet these expectations, we here propose a semi-autonomous shared control framework assisting the user while driving on a sidewalk. We present simulations as well as an experiment carried out with our system embedded on a standard wheelchair. In both cases, our method allows progressive velocity adaptation when approaching a curb edge resulting in the wheelchair avoiding the risk of falling. The obtained results thus provide a proof of concept of our method.

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Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

Cited by 9 publications

References 8 publications

Conversion of a Conventional Wheelchair into an Autonomous Personal Transportation Testbed

Conversion of a Conventional Wheelchair into an Autonomous Personal Transportation Testbed

A shared control solution for safe assisted power wheelchair navigation in an environment consisting of negative obstacles: a proof of concept

Assisting power wheelchair driving on a sidewalk: A proof of concept

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