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The autonomous mobile robot SENARIO: a sensor aided intelligent navigation system for powered wheelchairs

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8 Author(s)
N. I. Katevas ; Dept. of Ind. Autom., Zenon SA, Athens, Greece ; N. M. Sgouros ; S. G. Tzafestas ; G. Papakonstantinou
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The SENARIO project is develoing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs. The authors discuss new and improved technologies developed within SENARIO concerning task/path planning, sensing and positioning for indoor mobile robots as well as user interface issues. The autonomous mobile robot SENARIO, supports semi- or fully autonomous navigation. In semi-autonomous mode the system accepts typical motion commands through a voice-activated or standard joystick interface and supports robot motion with obstacle/collision avoidance features. Fully autonomous mode is a superset of semi-autonomous mode with the additional ability to execute autonomously high-level go-to-goal commands. At its current stage, the project has succeeded in fully supporting semi-autonomous navigation, while experiments on the fully autonomous mode are very encouraging

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IEEE Robotics & Automation Magazine  (Volume:4 ,  Issue: 4 )