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Published on: October 14, 2017
Shared control strategies for obstacle avoidance tasks in an intelligent wheelchair
Hoang T Trieu1, Hung T Nguyen, Keith Willey
1Faculty of Engineering, University of Technology, Sydney, Broadway, NSW 2007, Australia. thtrieu@eng.uts.edu.au
Summary
This study introduces a shared control strategy for intelligent wheelchairs, enhancing obstacle avoidance for users with disabilities. The system uses real-time mapping and considers user intent for safer navigation.
Area of Science:
- Robotics
- Human-Computer Interaction
- Assistive Technology
Background:
- Intelligent wheelchairs require advanced navigation systems to assist users with mobility impairments.
- Effective obstacle avoidance is crucial for the safe and independent operation of assistive devices.
- Current systems may lack comprehensive real-time mapping and user intention integration.
Purpose of the Study:
- To develop and evaluate a shared control strategy for an intelligent wheelchair.
- To enhance obstacle avoidance capabilities for users with disabilities.
- To integrate user intentions and environmental awareness for improved navigation.
Main Methods:
- Utilized a laser range finder sensor for obstacle detection.
- Combined sensor data with wheel encoder information for 360-degree real-time mapping.
- Implemented error correction for wheelbase and wheel diameter uncertainties.
- Incorporated actual wheelchair dimensions to define usable accessible space.
- Developed a shared control decision-making process considering user intent (head-movement interface), accessible space, and safety.
Main Results:
- The system successfully detects obstacles and generates a real-time environmental map.
- Map accuracy was improved by addressing systematic errors.
- The shared control strategy effectively integrated user intent, environmental data, and safety parameters.
- Experimental results demonstrated promising performance for the intelligent wheelchair system.
Conclusions:
- The proposed shared control strategy offers a viable approach for intelligent wheelchair navigation.
- The system enhances obstacle avoidance and considers user-specific needs for improved assistance.
- Further development and testing are warranted to optimize performance in diverse environments.
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