Development of a Bayesian recursive algorithm to find freespaces for an intelligent wheelchair

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Conference Proceeding
33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011, pp. 7250 - 7253
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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 freespace. Experiment results demonstrate that the new method provides excellent performance with great flexibility and fast response.
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