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

Publication Type:
Conference Proceeding
2013 European Control Conference, ECC 2013, 2013, pp. 4382 - 4387
Issue Date:
Filename Description Size
2013001862OK.pdf4.29 MB
Adobe PDF
Full metadata record
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.
Please use this identifier to cite or link to this item: