By Topic

Location and high level planning for a powered wheelchair

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Bourhis, G. ; Lab. d''Automatique et d''Electronique Industrielles, Univ. de Metz, France ; Morn, O. ; Agostini, Y.

The VAHM project aims to improve the control of powered wheelchairs allowing access to local primitives like “wall following” or “obstacles avoiding” and to possibilities of automatically generated trajectories. Mobility task planning implies environment modelling. So, several complementary models are present in the system. A topological model of free spaces allows trajectory calculation taking into account the non-holonomic constraints. A geometrical model composed of line segments is used for the robot location by snatching the ultrasonic and odometric datas with the environment. Finally a semantical model makes the man-machine communication more natural and may bring some reasoning capacities to the machine as well as navigation assistance for people with cognitive impairment

Published in:

Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on  (Volume:3 )

Date of Conference:

2-5 Oct 1994