Development of a Bayesian recursive algorithm to find free-spaces for an intelligent wheelchair

Publication Type:
Conference Proceeding
Citation:
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, 2011, pp. 7250 - 7253
Issue Date:
2011-12-26
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This paper introduces a new shared control strategy for an intelligent wheelchair using a Bayesian recursive algorithm. Using the local environment information gathered by a laser range finder sensor and commands acquired through a user interface, a Bayesian recursive algorithm has been developed to find the most appropriate free-space, which corresponds to the highest posterior probability value. Then, an autonomous navigation algorithm will assist to manoeuvre the wheelchair in the chosen free-space. Experiment results demonstrate that the new method provides excellent performance with great flexibility and fast response. © 2011 IEEE.
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