Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Robot Motion Planning and Control
Robot Motion Planning and Control
Theory of Robot Control
Epipolar Geometry of Panoramic Cameras
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
A comparative psychophysical and EEG study of different feedback modalities for HRI
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Towards an intelligent and supportive environment for people with physical or cognitive restrictions
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
Wheelchair-based open robotic platform and its performance within the AmbienNet project
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
An architecture for assisted navigation in intelligent environments
International Journal of Communication Networks and Distributed Systems
Smart wheelchair control through a deictic approach
Robotics and Autonomous Systems
Brain-coupled interaction for semi-autonomous navigation of an assistive robot
Robotics and Autonomous Systems
JSAI'03/JSAI04 Proceedings of the 2003 and 2004 international conference on New frontiers in artificial intelligence
A semi-autonomous wheelchair towards user-centered design
ICCHP'06 Proceedings of the 10th international conference on Computers Helping People with Special Needs
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The present work considers the development of a wheelchair for people with special needs, which is capable of navigating semi-autonomously within its workspace. This system is expected to prove useful to people with impaired mobility and limited fine motor control of the upper extremities. Among the implemented behaviors of this robotic system are the avoidance of obstacles, the motion in the middle of the free space and the following of a moving target specified by the user (e.g., a person walking in front of the wheelchair). The wheelchair is equipped with sonars, which are used for distance measurement in preselected critical directions, and with a panoramic camera with a 360 degree field of view, which is used for following a moving target. After suitably processing the color sequence of the panoramic images using the color histogram of the desired target, the orientation of the target with respect to the wheelchair is determined, while its distance is determined by the sonars. The motion control laws developed for the system use the sensory data and take into account the non-holonomic kinematic constraints of the wheelchair, in order to guarantee certain desired features of the closed-loop system, such as stability. Moreover, they are as simplified as possible to minimize implementation requirements. An experimental prototype has been developed at ICS–FORTH, based on a commercially-available wheelchair. The sensors, the computing power and the electronics needed for the implementation of the navigation behaviors and of the user interfaces (touch screen, voice commands) were developed as add-on modules and integrated with the wheelchair.