Perceptual navigation for semi-autonomous wheelchair operations
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The objective of this research is to develop a semi-autonomous architecture for an intelligentwheelchair, “a wheelchair-navigation agent,” that comprises perceptual and navigational capabil-ities by means of computer science, robotics, and sensor technology. The perceptual navigationsystem consists of a computer, a collection of sensors (e.g., ultrasonic sensors and a CCD cam-era), and a novel man-machine tactile interface (Vibrotactile Glove). A customized behavior-basedcontrol architecture is employed to implement the perceptual and navigational assistance (per-ceptual/navigational behaviors). The wheelchair-navigation agent aims at improving independentmobility of multi-disabled individuals, and this thesis presents integration of sensory informationand human-machine interaction.