Towards a safe, low-cost, intelligent wheelchair
Aniket Murarka, Shilpa Gulati, Patrick Beeson, and Benjamin Kuipers. Towards a safe, low-cost, intelligent wheelchair. In IROS Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV), pp. 42–50, St. Louis, Missouri, October 2009.
Abstract
Unlike most other robots, autonomous personal transports must be designed with a passenger user in mind. This paper examines the integration of three necessary technologies for a robotic transportâin particular, a robotic wheelchair. First, local motion to a nearby goal pose needs to be safe and comfortable for the human passenger. Second, 3D overhangs, drop-offs, steep inclines, and stairs (in addition to pedestrians and walls) need to be accurately modeled and avoided, while curb cuts, drivable ramps, and flat ground should be seen as traversable. Third, the spatial representation of the robot should facilitate infrequent requests for human directions and allow natural directional commands. Furthermore, the sensorimotor system that facilitates spatial reasoning, planning, and motion needs to be cost efficient. As a result, our goal is to create a system that ultimately uses inexpensive wheel encoders and off-the-shelf stereo cameras. In this paper, we overview the three technologies listed above. We then discuss the successes and the current failures of the integration task, both of which motivate future work.
Additional Information
BibTeX
@InProceedings{Murarka-ppniv-09,
author = {Aniket Murarka and Shilpa Gulati and Patrick Beeson
and Benjamin Kuipers},
title = {Towards a safe, low-cost, intelligent wheelchair},
booktitle = {IROS Workshop on Planning, Perception and Navigation
for Intelligent Vehicles (PPNIV)},
year = 2009,
address = {St. Louis, Missouri},
month = {October},
pages = {42--50},
abstract = {Unlike most other robots, autonomous personal
transports must be designed with a passenger user in
mind. This paper examines the integration of three
necessary technologies for a robotic transportâin
particular, a robotic wheelchair. First, local
motion to a nearby goal pose needs to be safe and
comfortable for the human passenger. Second, 3D
overhangs, drop-offs, steep inclines, and stairs (in
addition to pedestrians and walls) need to be
accurately modeled and avoided, while curb cuts,
drivable ramps, and flat ground should be seen as
traversable. Third, the spatial representation of
the robot should facilitate infrequent requests for
human directions and allow natural directional
commands. Furthermore, the sensorimotor system that
facilitates spatial reasoning, planning, and motion
needs to be cost efficient. As a result, our goal is
to create a system that ultimately uses inexpensive
wheel encoders and off-the-shelf stereo cameras. In
this paper, we overview the three technologies
listed above. We then discuss the successes and the
current failures of the integration task, both of
which motivate future work.},
bib2html_pubtype ={Workshop},
bib2html_rescat ={Autonomous Vehicles},
bib2html_extra_info ={<a
href="http://www.isr.uc.pt/~urbano/WorkIROS09/images/PDF/WorkshopIROS09_Proceedings.pdf">
PPNIV copy</a>},
}