Smart wheelchair perception using odometry, ultrasound sensors, and camera

Robotica

Volumn 27, Issue 2, 2009, Pages 303-310

  Horn, O ^a   Kreutner, M ^a  

^a UNIVERSITÉ DE LORRAINE   (France)

Author keywords

Localization; Smart wheelchair; Ultrasonic sensors; Vision

Indexed keywords

KNOWN ENVIRONMENTS; LOCALIZATION; MOBILITY AIDS; ODOMETRIC; ODOMETRY; REHABILITATION ROBOTICS; SMART WHEELCHAIR; SMART WHEELCHAIRS; ULTRASOUND SENSORS; VISION SENSORS;

ACOUSTIC WAVES; ULTRASONIC SENSORS; ULTRASONICS;

WHEELCHAIRS;

EID: 67651173178     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574708004773     Document Type: Article

References (30)

1. A. Argyros, P. Georgiadis, P. Trahanias and D. Tsakiris, "Semi-autonomous navigation of a robotic wheelchair," J. Intell. Robot. Syst. 34, 315-329 (2002).
2. D. P. Miller and M. G. Slack, "Design and testing a low-cost robotic wheelchair prototype," Autonomous Robot, 2, 77-88 (1995).
3. H. A. Yanko, Shared User-Computer Control of a Robotic Wheelchair System Ph.D. Thesis (Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, University of Massachusetts, Lowell, Sep. 2000).
4. R. Simpson, E. LoPresti, S. Hayashi, I. Nourbakhsh and D. Miller, "The smart wheelchair component system," J. Rehabil. Res. Dev. 41(3B), 429-442 (Jun. 2004).
5. J. Borenstein and L. Feng, "Measurement and correction of systematic odometry errors in mobile robots," IEEE Trans. Robot. Automation 12(6), 869-880 (Dec. 1996).
6. I. Moon, S. Joung and Y. Kum, "Safe and Reliable Intelligent Wheelchair Robot With Human Robot Interaction," Proceedings of the IEEE International Conference on Robotics and Automation, Washington (May 2002) pp. 3595-3600.
7. S. P. Levine, D. A. Bell, L. A. Jaros, R. C. Simpson, Y. Koren, "The NavChair assistive wheelchair navigation system," IEEE Trans. Rehabil. Eng. 7(4), 443-451 (Dec. 1999).
8. G. Del Castillo, Autonomous, Vision-Based, Pivoting Wheelchair With Obstacle Detection Capability Ph.D. Thesis (University of Notre Dame, Notre Dame, Indiana, USA, May 2004).
9. R. C. Luo, T. M. Chen and M. H. Lin, "Automatic Guided Intelligent Wheelchair System Using Hierarchical Grey-Fuzzy Motion Decision-Making Algorithms," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea (1999) pp. 900-905.
10. G. Pires and U. Nunes, "A wheelchair steered through voice commands and assisted by a reactive fuzzy-logic controller," J. Intell. Robot. Syst. 34, 301-314 (2002).
11. A. Bonci, S. Longhi, A. Monteriu and M. Vaccarini, "Navigation system for a smart wheelchair," J. Zhejiang Univ. Sci. 6A(2), 110-117 (2005).
12. T. Gomi and A. Griffith, "Developing Intelligent Wheelchairs for the Handicapped," In: Assistive Technology and Artifical Intelligence (V. O. Mittal, H. A. Yanco, J. M. Aronis, R. C. Simpson, eds.) (Springer Verlag, 1998) pp. 150-178.
13. E. Demeester, M. Nuttin, D. Vanhooydonck and H. Van Bruusel, "A Model-based, Probabilistic Framework for Plan Recognition in Shared Wheelchair Control: Experiments and Evaluation," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2003, Las Vegas, USA, pp. 1456-1461.
14. Y. Kuno, Y. Murakami and N. Shimada, "User and Social Interfaces by Observing Human Faces for Intelligent Wheelchairs," ACM International Conference, Proceeding of Workshop on Perceptive User Interfaces, Orlando, Florida, USA (2001) pp. 1-4.
15. A. Lankenau, T. Rofer and B. Krieg-Bruckner, "Self localization in large-scale environments for the Bremen autonomous wheelchair," Spatial Cognition III. Lecture Notes in Artificial Intelligence 2685, 2003, pp. 34-61.
16. Y. Adachi, H. Tsunenari, Y. Matsumoto and T. Ogasawara, "Guide Robot's Navigation Based on Attention Estimation Using Gaze Information," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan (2004) pp. 540-545.
17. C. Zhou, Y. Wei and T Tan, "Mobile Robot Self-Localization Based on Global Visual Appearance Features," Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan (2003) pp. 1271-1276.
18. S. V. Diaz, C. A. Rodriguez, F. Diaz del Rio, A. C. Balcells and D. C. Muniz, "Tetranauta: A Intelligent Wheelchair for Users with very Severe Mobility Restrictions," Proceedings of the International Conference on Control Applications, Glasgow, Scotland UK. (2002) pp. 778-783.
19. J. C. G. Garcia, M. M. Romera, M. M. Quintas and J. U. Urena, "Positioning and Localization System for Autonomous Wheelchairs," Proceedings of the IEEE Industrial Electronics Society, Orlando, Florida, USA (Nov. 2002) pp. 1555-1560.
20. G. Bourhis, O. Horn, O. Habert and A. Pruski, "The VAHM project: Autonomous vehicle for people with motor disabilities," IEEE Robot. Automation Mag., Special Issue on Wheelchairs in Europe 7(1), 21-28 (Mar. 2001).
21. M. Kreutner, Perception multisensorielle pour véhicule autonome dédié aux personnes handicapées moteurs These de doctorat de l' Université de Metz, University of Metz, France (Sep. 2004).
22. P. Hoppenot and E. Colle, "Real-time localisation of a low-cost mobile robot with poor ultrasonic data," IFAC J. Control Eng. Pract. 6, 925-934 (1998).
23. C. H. Kim, J. H. Juang and B. K. Kim, "Design of an Intelligent Wheelchair for the Motor Disbled," In: Advances in Rehabilitation Robotics, Lecture Notes in Control and Information Sciences (Z. Z. Bien and Stefanov, eds.) (Springer Berlin/Heidelberg 2004) pp. 299-310.
24. L. Jetto, S. Longhi and G. Venturini, "Development and experimental validation of an adaptive extended kalman filter for the localization of mobile robots," IEEE Trans. Robot. Automation 15(2), 219-229 (Apr. 1999).
25. K. Schilling, H. Roth, R. Lieb and H. Stuzle, "Sensors to Improve the Safety for Wheelchair Users," Proceedings of the 3rd Annual TIDE-Technology for Inclusive Design and Equality-Congress, 1998, Helsinki, Finland, pp. 327-331.
26. W. S. Gribble, R. L. Browning, M. Hewett, Emilio Remolina and B. J. Kuipers, "Integrating Vision and Spatial Reasoning for Assistive Navigation," In: Assistive Technology and Artifical Intelligence (V. O. Mittal, H. A. Yanco, J. M. Aronis, R. C. Simpson, eds.) (Springer Verlag, 1998).
27. O. Horn and A. Courcelle, "Interpretation of ultrasonic readings for autonomous robot localization," J. Intell. Robot. Syst. 39, 265-285 (2004).
28. P. Mallet and J. M. Pergandi, "Towards smart wheelchairs," AAATE 2005, Lille, France, pp. 328-335.
29. M. Kreutner and O. Horn, "Co-operation between ultrasound and monocular vision for the localization of a mobile robot," CESA'2003, Lille, France (2003).
30. J. Borenstein and Y. Koren, "Noise Rejection for Ultrasonic Sensors in Mobile Robot Application," Proceedings of the IEEE International Conference on Robotics and Automation, (Aut 1992) pp. 1727-1732.