Reaching analysis of wheelchair users using motion planning methods

Authors:
Jing Yang;Patrick Dymond;Michael Jenkin
Affiliations:
Department of Computer Science and Engineering, York University, Toronto, Canada;Department of Computer Science and Engineering, York University, Toronto, Canada;Department of Computer Science and Engineering, York University, Toronto, Canada
Venue:
ICOST'12 Proceedings of the 10th international smart homes and health telematics conference on Impact Ananlysis of Solutions for Chronic Disease Prevention and Management
Year:
2012

Citing 3
Cited 0

Robot Motion Planning

Robot Motion Planning
A unified approach to accessibility for a person in a wheelchair

Robotics and Autonomous Systems
Research paper: Sampling-based robot motion planning: Towards realistic applications

Computer Science Review

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Abstract

For an environment to be well suited for wheelchair use not only should it be sufficiently clear of obstacles so that the wheelchair can navigate it, it should also be properly designed so that critical devices such as light switches can be reached by the hand of the wheelchair user. Given a goal location, explicitly calculating a path of the wheelchair and the person sitting in it so that they can reach the goal is not a trivial task. In this paper, we augment a Rapidly-exploring Random Tree (RRT) planner with a goal region generation stage that encourages the RRT to grow toward configurations from which the wheelchair user can reach the goal point. The approach is demonstrated on simulated 3D environments.