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An adaptive scheme for wheelchair navigation collaborative control
Urdiales García, Cristina; Peula, José Ma.; Barrué Subirana, Cristian; Cortés García, Claudio Ulises; Sandoval, Francisco; Caltagirone, Carlo; Annicchiarico, Roberta
Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics; Universitat Politècnica de Catalunya. KEMLG - Grup d´Enginyeria del Coneixement i Aprenentatge Automàtic
In this paper we propose a system where machine and human cooperate at every situation via a reactive emergent behavior, so that the person is always in charge of his/her own motion. Our approach relies on locally evaluating the performance of the human and the wheelchair for each given situation. Then, both their motion commands are weighted according to those efficiencies and combined in a reactive way. This approach benefits from the advantages of typical reactive behaviors to combine different sources of information in a simple, seamless way into an emergent trajectory.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Aprenentatge automàtic
Assisted wheelchair navigation
Chairs for people with disabilities
Cadires de rodes elèctriques -- Control compartit
Ajuts tecnològics per als discapacitats
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
AAAI Press. Association for the Advancement of Artificial Intelligence
         

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