Research Repository

Sensor-based dynamic trajectory planning for smooth door passing of intelligent wheelchairs

Wang, S and Chen, L and Hu, H and McDonald-Maier, K (2013) Sensor-based dynamic trajectory planning for smooth door passing of intelligent wheelchairs. In: UNSPECIFIED, ? - ?.

Full text not available from this repository.

Abstract

Traditionally, it is difficult for elderly and disabled people to control a wheelchair passing a narrow doorway manually. This paper presents a dynamic trajectory planning algorithm for wheelchairs to pass a door smoothly and automatically. It is a sensor-based approach in which two laser rangefinders are deployed in the wheelchair for real-time door detection. To generate smooth trajectories that enable a wheelchair to pass a door perpendicularly, Bézier curve based trajectories are calculated repeatedly during the whole course of door passing. The proposed approach is tested on a real wheelchair and the experimental results are presented to show the good performance and effectiveness of our proposed automatic door passing strategy. © 2013 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2013 5th Computer Science and Electronic Engineering Conference, CEEC 2013 - Conference Proceedings
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 17 Dec 2014 12:46
Last Modified: 23 Jan 2019 00:18
URI: http://repository.essex.ac.uk/id/eprint/9249

Actions (login required)

View Item View Item