Chatzidimitriadis, Sotirios and Oprea, Paul and Gillham, Michael and Sirlantzis, Konstantinos (2017) Evaluation of 3D obstacle avoidance algorithm for smart powered wheelchairs. In: 2017 Seventh International Conference on Emerging Security Technologies (EST). IEEE, pp. 157-162. ISBN 978-1-5386-4019-7. E-ISBN 978-1-5386-4018-0. (doi:10.1109/EST.2017.8090416) (KAR id:65458)
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Official URL: https://dx.doi.org/10.1109/EST.2017.8090416 |
Abstract
This research investigates the feasibility for the development of a novel 3D collision avoidance system for smart powered wheelchairs operating in a cluttered setting by using a scenario generated in a simulated environment using the Robot Operating System development framework. We constructed an innovative interface with a commercially available powered wheelchair system in order to extract joystick data to provide the input for interacting with the simulation. By integrating with a standard PWC control system the user can operate the PWC joystick with the model responding in real-time. The wheelchair model was equipped with a Kinect depth sensor segmented into three layers, two representing the upper body and torso, and a third layer fused with a LIDAR for the leg section. When using the assisted driving algorithm there was a 91.7% reduction in collisions and the course completion rate was 100% compared to 87.5% when not using the algorithm.
Item Type: | Book section |
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DOI/Identification number: | 10.1109/EST.2017.8090416 |
Uncontrolled keywords: | wheelchairs; collision avoidance; robot senseing systems; three-dimensional displays; force; wheels; mathematical model |
Divisions: | Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts |
Depositing User: | Michael Gillham |
Date Deposited: | 14 Dec 2017 16:04 UTC |
Last Modified: | 09 Dec 2022 00:08 UTC |
Resource URI: | https://kar.kent.ac.uk/id/eprint/65458 (The current URI for this page, for reference purposes) |
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