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Abstrakty
In this paper, a new approach to shared control for wheelchair driving assistance to visually challenged people is presented. Our system estimates how much help the user needs to solve a situation in a reactive fashion and combines his/her commands with assistant to continuously produce an emergent motor behavior. Thus, the better the person drives, the more control he/she is awarded with. Attempts to drive in unsafe directions or far from a set goal also reduce user contribution to wheelchair motion. Efficiency changes are perceived by people as speetl reduction. Users may sample different headings and acknowledge that they are on their way when they gain back speed.The approach has been tested at Casa Agevole in Fondazione Santa Lucia (FSL) with blindfolded volunteers. All volunteers managed to finish a mildly complicaled trajectory with door crossing and major turns in collaborative mode.
Rocznik
Tom
Strony
3--22
Opis fizyczny
Bibliogr. 26 poz., tab., rys., wykr.
Twórcy
autor
autor
autor
autor
autor
autor
- ISIS group, ETSI Telecommunications, University of Malaga, 29071 Malaga, Spain, acurdiales@uma.es
Bibliografia
- [1] D. J. Bruemmer, D. A. Few, R. L. Boring, J. L. Marble, M. C. Walton, and C. W. Nielsen. Shared understanding for collaborative control. IEEE Transactions on Systems, Man and Cybernetics - Fart A: Systems and Humans, 25(4):494-504, july 2005.
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- [3] Y. Horiguchi and T. Sawaragi. Effects of probing to adapt machine autonomy in shared control systems. In Proc. International Conference on Systems, Man and Cybernetics, volume 1, pages 317-323, Hawaii, USA, october 2005.
- [41 S. P. Parikh, V. Grassi, V. Kumar, and J. Okamoto. Usability study of a control framework for an intelligent wheelchair. In Proc. of the 2005 IEEE International Conference on Robotics and Automation, pages 4745-4750, Barcelona, Spain, April 2005.
- [5] S. Parikh, V. Grassi, V. Kumar, and J. Okamoto. Incorporating user inputs in motion planning for a smart wheelchair. In Proc. of the 2004 IEEE International Conference on Robotics and Automation, pages 2043-2048, New Orleans, USA, April 2004.
- [6] S. McLachlan, J. Arblaster, D. K. Liu, J. Valls, and L. Chenoweth. A multi-stage shared control method for an intelligent mobility assistant. In Proc. of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, pages 426-429, Chicago, USA, July 2005.
- [7] J. H. Connell and P. Viola. Cooperative control of a semi-autonomous mobile robot. In Proc. of the IEEE Conference on Robotics and Automation, pages 1118-1121, Cincinnati, USA, 1990.
- [8] R. Simpson and S. P. Levine. NavChair: An Assistive Wheelchair Navigation System with Automatic Adaptation, pages 235-255. Springer-Verlag, 1998.
- [9] D. Miller. Assistive robotics: an overview, pages 126-136. Springer-Verlag, 1998.
- [10] R. S. Rao, K. Conn, S. H. Jung, J. Katupitiya, T. Kientz, V. Kumar, J. Ostrowski, S. Patel, and C. J. Taylor. Human robot interaction: Applications to smart wheelchairs. In Proc. IEEE International Conference on Robotics and Automation, Washington, USA, 2002.
- [11] R. A. Brooks. A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2(1):14-23, 1986.
- [12] T. Gomi and A. Griffith. Developing Intelligent Wheelchairs for the Handicapped, pages 150-178. Springer-Verlag, 1998.
- [13] R. Simpson and S. Levine. Development and evaluation of voice control for a smart wheelchair. In Proc. Annu. RESNA Conf, pages 417-419, Washington, USA, 1997.
- [14] J. Crisman and M. Cleary. Progress on the deictic controlled whellchair, pages 137-149. Springer-Verlag, 1998.
- [15] P. Nisbet, J. Craig, P. Odor, and S. Aitken. 'smart' wheelchairs for mobility training. Technol. Disability, 5:49-62, 1995.
- [16] G. Bourhis and Y. Agostini. The vahm robotized wheelchair: System architecture and human-machine interaction. Journal of Intelligent Robotic Systems, 22(1):39-50, 1998.
- [17] U. Frese, P. Larsson, and T. Duckett. A multigrid algorithm for simultaneous localization and mapping. IEEE Transactions on Robotics, 21(2):1-12, 2005.
- [18] N. L. Katevas, N. M. Sgouros, S. G. Tzafestas, G. Papakonstantinou, P. Beattie, J. M. Bishop, P. Tsanakas, and D. Koutsouris. The autonomous mobile robot senario: A sensor-aided intelligent navigation system for powered wheelchairs. IEEE Robotics Automation Magazine, 4(4):60-70, 1997.
- [19] C. Mandel, K. Huebner, and T. Vierhuff. Towards an autonomous wheelchair: Cognitive aspects in service robotics. Proceedings of Towards Autonomous Robotic Systems (TAROS 05), pages 165-172, 2005.
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- [21] T. Fong, C. Thorpe, and C. Baur. Multi-robot remote driving with collaborative control. IEEE Trans. on Industrial Electronics, 50(4):699-704, 2003.
- [22] C. Urdiales, J. M. Peula, C. Barrue, U. Cortes, F. Sandoval, C. Caltagirone, and R. Annichiaricco. An adaptive scheme for wheelchair navigation collaborative control. In Proc. of Fall Symposium of Asociation for the Advancement of Artificial Intelligence (AAAI'08), Arlington, US, 2008.
- [23] C. Urdiales, A. Poncela, I. Sanchez-Tato, and F. Sandoval. Efficiency based reactive shared control for collaborative human/robot navigation. In Proc. of the IEEE Conference on Intell. Robots and Systems (IROS'07), San Diego, USA, 2007.
- [24] C. Urdiales, J.M. Peula, M. Fernandez-Carmona, R. Annicchiaricco, F. Sandoval, and C. Caltagirone. Adaptive collaborative assistance for wheelchair driving via cbr learning. In Proc. of 2009 IEEE Conf. on Robotics for Rehabilitation (ICORR'09), Kyoto, Japan, 2009.
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- [26] R. Vázquez-Martin, E.J. Pérez, C. Urdiales, J.C. del Toro, and F. Sandoval. Hybrid navigation guidance for intelligent mobiles. IEEE ITS Society Newsletter, 4(8):24-30, 2006.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-PWA9-0045-0001