Self-Localisation in the ‘Senario’ Autonomous Wheelchair

Authors:
P. D. Beattie;J. M. Bishop
Affiliations:
Department of Cybernetics, University of Reading, Whiteknights, Reading, Berkshire, UK/ e-mail: Paul.Beattie@royalmail.co.uk/ J.M.Bishop@uk.ac.rdg;Department of Cybernetics, University of Reading, Whiteknights, Reading, Berkshire, UK/ e-mail: Paul.Beattie@royalmail.co.uk/ J.M.Bishop@uk.ac.rdg
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

This paper introduces the Focused Stochastic Diffusion Network as a novelmethod of self-localisation for an autonomous wheelchair in a complex, busyenvironment. The space of possible positions is explored in parallel by aset of cells searching in a competitive co-operative manner for the mostlikely position of the wheelchair in its environment. Experimental resultsfrom the SENARIO autonomous wheelchair project indicate the technique ispractical and robust.