Solution to a door crossing problem for an autonomous wheelchair

Authors:
Fernando Auat Cheein;Celso De La Cruz;Ricardo Carelli;Teodiano F. Bastos-Filho
Affiliations:
Institute of Automatics, National University of San Juan, Argentina;Electrical Engineering Department of Unversidade Federal do Espírito Santo, Brazil, Vitória, Espírito Santo, Brazil;Institute of Automatics, National University of San Juan, Argentina;Universidade Federal do Espírito Santo, Brazil
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 0

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Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform

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Dynamic model based formation control and obstacle avoidance of multi-robot systems

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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.