Multi-layered map based navigation and interaction for an intelligent wheelchair
- Resource Type
- Conference
- Authors
- Li, Ruijiao; Wei, Lai; Gu, Dongbing; Hu, Huosheng; McDonald-Maier, Klaus D.
- Source
- 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on. :115-120 Dec, 2013
- Subject
- Robotics and Control Systems
Wheelchairs
Navigation
Semantics
Mobile robots
Ontologies
Planning
- Language
Intelligent wheelchair is a paradigm of assisted living applications for elderly and disabled people. Its autonomous navigation and human-robot interaction is the major challenge. The previous intelligent wheelchair research has been mainly focused on geometric map based navigation, which is computational expensive in a large scale environment. This paper proposes the use of multi-layered maps for navigation and interaction of an intelligent wheelchair. The semantic information can improve the efficiency of path planning and navigation as well as extend the capability of task planning for the wheelchair. Some experimental results are given to demonstrate the feasibility and performance of the proposed approach.