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

Wang, Sen and Chen, Ling and Hu, Huosheng and McDonald-Maier, Klaus (2013) Sensor-based dynamic trajectory planning for smooth door passing of intelligent wheelchairs. In: 2013 5th Computer Science and Electronic Engineering Conference (CEEC), 2013-09-17 - 2013-09-18, Colchester, UK.

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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.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2013 5th Computer Science and Electronic Engineering Conference (CEEC)
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: 17 Dec 2014 12:46
Last Modified: 04 Jun 2020 17:21
URI: http://repository.essex.ac.uk/id/eprint/9249

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