A Multi-Modal Utility to Assist Powered Mobility Device Navigation Tasks

Springer International Publishing
Publication Type:
Conference Proceeding
Social Robotics: 6th International Conference, Icsr 2014, Sydney, Nsw, Australia, October 27-29, 2014. Proceedings, 2014, 8755 pp. 300 - 309
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This paper presents the development of a shared control system for power mobility device users of varying capability in order to reduce carer oversight in navigation. Weighting of a user’s joystick input against a short-tem trajectory prediction and obstacle avoidance algorithm is conducted by taking into consideration proximity to obstacles and smoothness of user driving, resulting in capable users rewarded greater levels of manual control for undertaking maneuvres that can be considered more challenging. An additional optional comparison with a Vector Field Histogram applied to leader-tracking provides further activities, such as completely autonomous following and a task for the user to follow a leading entity. Indoor tests carried out on university campus demonstrate the viability of this work, with future trials at a care home for the disabled intended to show the system functioning in one of its intended settings.
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