A multi-modal utility to assist powered mobility device navigation tasks

Poon, J; Miro, JV

A multi-modal utility to assist powered mobility device navigation tasks

Poon, J Miro, JV

Permalink

Publication Type:: Conference Proceeding
Citation:: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2014, 8755 pp. 300 - 309
Issue Date:: 2014-01-01

Open Access

Copyright Clearance Process

Recently Added
In Progress
Open Access

This item is open access.

Adobe PDF

Download Accepted Manuscript versionAdobe PDF (754.37 kB)

View on publisher's site

View statistics

Full metadata record

Field	Value	Language
dc.contributor.author	Poon, J	en_US
dc.contributor.author	Miro, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2014, 8755 pp. 300 - 309	en_US
dc.identifier.isbn	9783319119724	en_US
dc.identifier.issn	0302-9743	en_US
dc.identifier.uri	http://hdl.handle.net/10453/34408
dc.description.abstract	© Springer International Publishing Switzerland 2014. This paper presents the development of a shared control systemfor power mobility device users of varying capability in order toreduce carer oversight in navigation. Weighting of a user’s joystick inputagainst a short-tem trajectory prediction and obstacle avoidancealgorithm is conducted by taking into consideration proximity to obstaclesand smoothness of user driving, resulting in capable users rewardedgreater levels of manual control for undertaking maneuvres that can beconsidered more challenging. An additional optional comparison with aVector Field Histogram applied to leader-tracking provides further activities,such as completely autonomous following and a task for the userto follow a leading entity. Indoor tests carried out on university campusdemonstrate the viability of this work, with future trials at a care homefor the disabled intended to show the system functioning in one of itsintended settings.	en_US
dc.relation.ispartof	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)	en_US
dc.relation.isbasedon	10.1007/978-3-319-11973-1_31	en_US
dc.subject.classification	Artificial Intelligence & Image Processing	en_US
dc.title	A multi-modal utility to assist powered mobility device navigation tasks	en_US
dc.type	Conference Proceeding
utslib.citation.volume	8755	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Sydney, Australia
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/Faculty of Engineering and Information Technology/School of Computer Science
pubs.organisational-group	/University of Technology Sydney/Strength - CAI - Centre for Artificial Intelligence
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	8755	en_US

Abstract:

© Springer International Publishing Switzerland 2014. This paper presents the development of a shared control systemfor power mobility device users of varying capability in order toreduce carer oversight in navigation. Weighting of a user’s joystick inputagainst a short-tem trajectory prediction and obstacle avoidancealgorithm is conducted by taking into consideration proximity to obstaclesand smoothness of user driving, resulting in capable users rewardedgreater levels of manual control for undertaking maneuvres that can beconsidered more challenging. An additional optional comparison with aVector Field Histogram applied to leader-tracking provides further activities,such as completely autonomous following and a task for the userto follow a leading entity. Indoor tests carried out on university campusdemonstrate the viability of this work, with future trials at a care homefor the disabled intended to show the system functioning in one of itsintended settings.

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/34408