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FORTH-ICS / TR-178 October 1996 Vision-Based Assistive Navigation for Robotic Wheelchair

Summary: FORTH-ICS / TR-178 October 1996
Vision-Based Assistive Navigation for Robotic Wheelchair
Panos E. Trahanias, Manolis I. A. Lourakis,
Antonis A. Argyros and Stelios C. Orphanoudakis
ABSTRACT: In this paper we present an approach towards providing advanced
navigational capabilities to robotic wheelchair platforms. Contemporary methods
that are employed in robotic wheelchairs are based on the information provided
by range sensors and its appropriate exploitation by means of obstacle avoidance
techniques. However, since range sensors cannot support a detailed environment
representation, these methods fail to provide advanced navigational assistance, unless
the environment is appropriately regulated (e.g. with the introduction of beacons).
In order to avoid any modifications to the environment, we propose an alternative
approach that employs computer vision techniques which facilitate space perception
and navigation. Computer vision has not been introduced todate in rehabilitation
robotics, since the former is not mature and reliable enough to meet the needs of
this sensitive application. However, in the proposed approach, stable techniques
are exploited that facilitate reliable, automatic navigation to any point in the visible
environment. This greatly enhances the mobility of the elderly and disabled, without
requiring them to exercise fine motor control. Preliminary results obtained from


Source: Argyros, Antonis - Foundation of Research and Technology, Hellas & Department of Computer Science, University of Crete


Collections: Computer Technologies and Information Sciences