Intention driven assistive wheelchair navigation

Taha, T; Valls Miro, J; Dissanayake, G

Intention driven assistive wheelchair navigation

Taha, T Valls Miro, J

Dissanayake, G

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Publisher:: Technical Report 470, University of Hertfordshire
Publication Type:: Conference Proceeding
Citation:: Proc. of "Robotic Helpers: User Interaction, Interfaces and Companions in Assistive and Therapy Robotics", a Workshop at ACM/IEEE Human Robot Interaction 2008 (HRI 2008), 2008, pp. 71 - 77
Issue Date:: 2008-01

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Field	Value	Language
dc.contributor.author	Taha, T	en_US
dc.contributor.author	Valls Miro, J https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.contributor.editor	Dautenhah, K	en_US
dc.contributor.editor	Gelderblom, GJ	en_US
dc.contributor.editor	Yanco, H	en_US
dc.date	2008-03-12	en_US
dc.date.issued	2008-01	en_US
dc.identifier.citation	Proc. of "Robotic Helpers: User Interaction, Interfaces and Companions in Assistive and Therapy Robotics", a Workshop at ACM/IEEE Human Robot Interaction 2008 (HRI 2008), 2008, pp. 71 - 77	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11059
dc.description.abstract	This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. The system has the ability to predict the users intended destination at a larger scale, that of a typical office or home arena. This system relies on minimal user input - obtained from a standard wheelchair joystick - in conjunction with a learned Partially Observable Markov Decision Process (POMDP), to estimate and subsequently aid in driving the user to the destination. The projection is constantly being updated, allowing for true user-platform integration. This shifts users focus from fine motor-skilled control to coarse guidance, broadly intended to convey intention. Successful simulation and experimental results on a real automated wheelchair platform demonstrate the validity of the approach.	en_US
dc.publisher	Technical Report 470, University of Hertfordshire	en_US
dc.relation.ispartof	Proc. of "Robotic Helpers: User Interaction, Interfaces and Companions in Assistive and Therapy Robotics", a Workshop at ACM/IEEE Human Robot Interaction 2008 (HRI 2008)	en_US
dc.relation.ispartof	ACM/IEEE Human Robot Interaction	en_US
dc.title	Intention driven assistive wheelchair navigation	en_US
dc.type	Conference Proceeding
utslib.location	Hertfordshire, UK.	en_US
utslib.location.activity	Amsterdam, the Netherlands	en_US
utslib.for	0914 Resources Engineering and Extractive Metallurgy	en_US
dc.location.activity	Amsterdam, the Netherlands	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.consider-herdc	true	en_US
pubs.place-of-publication	Hertfordshire, UK.	en_US
pubs.start-date	2008-03-12	en_US

Abstract:

This paper presents an intelligent decision-making agent to assist wheelchair users in their daily navigation activities. The system has the ability to predict the users intended destination at a larger scale, that of a typical office or home arena. This system relies on minimal user input - obtained from a standard wheelchair joystick - in conjunction with a learned Partially Observable Markov Decision Process (POMDP), to estimate and subsequently aid in driving the user to the destination. The projection is constantly being updated, allowing for true user-platform integration. This shifts users focus from fine motor-skilled control to coarse guidance, broadly intended to convey intention. Successful simulation and experimental results on a real automated wheelchair platform demonstrate the validity of the approach.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/11059