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Doorway passing of an intelligent wheelchair by dynamically generating Bézier curve trajectory

Wang, Sen and Chen, Ling and Hu, Huosheng and McDonald-Maier, Klaus (2013) Doorway passing of an intelligent wheelchair by dynamically generating Bézier curve trajectory. In: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012-12-11 - 2012-12-14, Guangzhou, China.

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Abstract

Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel strategy to address the door passing issue by dynamically generating the Bézier curve based trajectory. It consists of door finding, optimization based trajectory generation and tracking control, which are executed repeatedly to increase the ability of passing the door and improve the performance. Whenever the door is detected, the optimization method produces a new smooth reference trajectory in real time for the wheelchair to follow. The proposed approach is tested in reality to verify its feasibility and efficiency, and the experimental results show its good performance in terms of the accuracy of finding the door and passing the doorway. © 2012 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
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: Elements
Date Deposited: 19 Jan 2015 10:54
Last Modified: 16 Jun 2020 11:54
URI: http://repository.essex.ac.uk/id/eprint/9238

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