A collision avoidance strategy for safe autonomous navigation of an intelligent electric-powered wheelchair in dynamic uncertain environments with moving obstacles

Wang, C; Matveev, AS; Savkin, AV; Nguyen, TN; Nguyen, HT

A collision avoidance strategy for safe autonomous navigation of an intelligent electric-powered wheelchair in dynamic uncertain environments with moving obstacles

Wang, C Matveev, AS Savkin, AV Nguyen, TN

Nguyen, HT

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Publication Type:: Conference Proceeding
Citation:: 2013 European Control Conference, ECC 2013, 2013, pp. 4382 - 4387
Issue Date:: 2013-12-01

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Field	Value	Language
dc.contributor.author	Wang, C	en_US
dc.contributor.author	Matveev, AS	en_US
dc.contributor.author	Savkin, AV	en_US
dc.contributor.author	Nguyen, TN https://orcid.org/0000-0002-9958-9876	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2013-12-01	en_US
dc.identifier.citation	2013 European Control Conference, ECC 2013, 2013, pp. 4382 - 4387	en_US
dc.identifier.isbn	9783033039629	en_US
dc.identifier.uri	http://hdl.handle.net/10453/27270
dc.description.abstract	We present a reactive navigation algorithm that guarantees the safety of automated intelligent wheelchairs for people with mobility impairments in dynamic uncertain environments. The proposed navigation algorithm restricts neither the natures nor the motions of the obstacles, the shapes of the obstacles can be time-varying (deforming obstacles). Furthermore, the proposed navigation algorithm does not require prior information about the positions and velocities of the obstacles to accomplish obstacle avoidance. Simulation and experimental results show that intelligent electric-powered wheelchairs are able to successfully avoid collisions with moving obstacles such as pedestrians or vehicles under the guidance of the proposed algorithm and reach the target. © 2013 EUCA.	en_US
dc.relation.ispartof	2013 European Control Conference, ECC 2013	en_US
dc.title	A collision avoidance strategy for safe autonomous navigation of an intelligent electric-powered wheelchair in dynamic uncertain environments with moving obstacles	en_US
dc.type	Conference Proceeding
utslib.for	0906 Electrical and Electronic Engineering	en_US
dc.location.activity	Zurich Switzerland	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/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

We present a reactive navigation algorithm that guarantees the safety of automated intelligent wheelchairs for people with mobility impairments in dynamic uncertain environments. The proposed navigation algorithm restricts neither the natures nor the motions of the obstacles, the shapes of the obstacles can be time-varying (deforming obstacles). Furthermore, the proposed navigation algorithm does not require prior information about the positions and velocities of the obstacles to accomplish obstacle avoidance. Simulation and experimental results show that intelligent electric-powered wheelchairs are able to successfully avoid collisions with moving obstacles such as pedestrians or vehicles under the guidance of the proposed algorithm and reach the target. © 2013 EUCA.

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http://hdl.handle.net/10453/27270