Towards a safe, low-cost, intelligent wheelchair

Aniket Murarka, Shilpa Gulati, Patrick Beeson, and Benjamin Kuipers. Towards a safe, low-cost, intelligent wheelchair. In IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV), pp. 42–50, St. Louis, Missouri, October 2009.

Abstract

Unlike most other robots, autonomous personal transports must be designed with a passenger user in mind. This paper examines the integration of three necessary technologies for a robotic transportâin particular, a robotic wheelchair. First, local motion to a nearby goal pose needs to be safe and comfortable for the human passenger. Second, 3D overhangs, drop-offs, steep inclines, and stairs (in addition to pedestrians and walls) need to be accurately modeled and avoided, while curb cuts, drivable ramps, and flat ground should be seen as traversable. Third, the spatial representation of the robot should facilitate infrequent requests for human directions and allow natural directional commands. Furthermore, the sensorimotor system that facilitates spatial reasoning, planning, and motion needs to be cost efficient. As a result, our goal is to create a system that ultimately uses inexpensive wheel encoders and off-the-shelf stereo cameras. In this paper, we overview the three technologies listed above. We then discuss the successes and the current failures of the integration task, both of which motivate future work.

Additional Information

PPNIV copy

BibTeX

@InProceedings{Murarka-ppniv-09,
  author =       {Aniket Murarka and Shilpa Gulati and Patrick Beeson and
                  Benjamin Kuipers},
  title =        {Towards a safe, low-cost, intelligent wheelchair},
  booktitle =    {IROS Workshop on Planning, Perception and Navigation for
                  Intelligent Vehicles (PPNIV)},
  year =         2009,
  address =      {St. Louis, Missouri},
  month =        {October},
  pages =        {42--50},
  abstract =     {Unlike most other robots, autonomous personal transports
                  must be designed with a passenger user in mind. This paper
                  examines the integration of three necessary technologies for
                  a robotic transportâin particular, a robotic wheelchair.
                  First, local motion to a nearby goal pose needs to be safe
                  and comfortable for the human passenger. Second, 3D
                  overhangs, drop-offs, steep inclines, and stairs (in
                  addition to pedestrians and walls) need to be accurately
                  modeled and avoided, while curb cuts, drivable ramps, and
                  flat ground should be seen as traversable. Third, the
                  spatial representation of the robot should facilitate
                  infrequent requests for human directions and allow natural
                  directional commands. Furthermore, the sensorimotor system
                  that facilitates spatial reasoning, planning, and motion
                  needs to be cost efficient. As a result, our goal is to
                  create a system that ultimately uses inexpensive wheel
                  encoders and off-the-shelf stereo cameras. In this paper, we
                  overview the three technologies listed above. We then
                  discuss the successes and the current failures of the
                  integration task, both of which motivate future work.},
  bib2html_pubtype ={Workshop},
  bib2html_rescat ={Autonomous Vehicles},
  bib2html_extra_info ={<a
                  href="http://www.isr.uc.pt/~urbano/WorkIROS09/images/PDF/WorkshopIROS09_Proceedings.pdf">
                  PPNIV copy</a>},
}

Download:

[597.1KB pdf]