A Collision Avoidance Strategy for Safe Autonomous Navigation of an Intelligent Electric-Powered Wheelchair in Dynamic Uncertain Environments with Moving Obstacles

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
Control Conference (ECC), 2013 European, 2013, pp. 4382 - 4387
Issue Date:
2013-01
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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.
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