Wheelchair Navigation: Automatically Adapting to Evolving Environments

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

208 Wedi eu Llwytho i Lawr (Pure)


Power wheelchairs can increase independence by supporting the mobility of their users. However, severe disabilities of users can render controlling the wheelchair difficult, if not impossible, especially over longer periods of time. This paper describes a proposal for research into techniques that would improve the experience and quality of life of wheelchair users by reducing the cognitive burden introduced by repetitive and complicated navigation tasks and manoeuvres. This will be achieved by sharing the control between the user and an autonomous controller. A number of techniques will be used to achieve this aim. Simultaneous Localisation and Mapping (SLAM) and topological mapping will be used for navigation between rooms while Computer Vision techniques will allow the (semi) automatic recognition of places in the user's home, based on the detection and categorisation of objects. Finally, medium to high level automation will be provided. This includes automatic and transparent assistance with tasks such as navigating through doorways but also autonomous navigation to specific locations using high level constructs ("take me to the kitchen table").
Iaith wreiddiolSaesneg
Teitl20th Towards Autonomous Robotic Systems Conference
Is-deitlTAROS 2019
GolygyddionKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
CyhoeddwrSpringer Nature
Nifer y tudalennau4
ISBN (Electronig)978-3-030-25332-5
ISBN (Argraffiad)978-3030253318, 3030253317
StatwsCyhoeddwyd - 05 Gorff 2019
Digwyddiad20th Towards Autonomous Robotic Systems Conference: TAROS 2019 - Queen Mary University of London, London, Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 03 Gorff 201905 Gorff 2019

Cyfres gyhoeddiadau

EnwLecture Notes in Computer Science


Cynhadledd20th Towards Autonomous Robotic Systems Conference
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Cyfnod03 Gorff 201905 Gorff 2019

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