TY - GEN
T1 - Automated perception of safe docking locations with alignment information for assistive wheelchairs
AU - Jain, Siddarth
AU - Argall, Brenna Dee
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - There are basic manuvering tasks with a powered wheelchair, like docking under a table and passage through a doorway or narrow hallway, which can be difficult for users with severe motor impairments - not only because of limitations in their own motor control, but also because of limitations in the control interfaces available to them. Robot automation can help transfer some of this control burden from the user to the machine. This work presents an algorithm for the automated detection of safe docking locations at rectangular and circular docking structures (tables, desks) with proper alignment information using 3D point cloud data. The safe docking locations can then be provided as goals to an autonomous path planner, within the context of providing adaptive driving assistance for powered wheelchair users. We evaluate the performance of our algorithm with systematic testing on several docking structures, observed from varied viewpoints.
AB - There are basic manuvering tasks with a powered wheelchair, like docking under a table and passage through a doorway or narrow hallway, which can be difficult for users with severe motor impairments - not only because of limitations in their own motor control, but also because of limitations in the control interfaces available to them. Robot automation can help transfer some of this control burden from the user to the machine. This work presents an algorithm for the automated detection of safe docking locations at rectangular and circular docking structures (tables, desks) with proper alignment information using 3D point cloud data. The safe docking locations can then be provided as goals to an autonomous path planner, within the context of providing adaptive driving assistance for powered wheelchair users. We evaluate the performance of our algorithm with systematic testing on several docking structures, observed from varied viewpoints.
UR - http://www.scopus.com/inward/record.url?scp=84911478986&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2014.6943272
DO - 10.1109/IROS.2014.6943272
M3 - Conference contribution
AN - SCOPUS:84911478986
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4997
EP - 5002
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -