Multi-level control of an intelligent wheelchair in a hospital environment using a Cyber-Mouse simulation system

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

braga, ram (Author) Other; petry, m (Author) Other; oliveira, e (Author) FEUP; reis, lp (Author) FEUP

Conference proceedings International

Title: ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2

Pages: 179-182

5th International Conference on Informatics in Control, Automation and Robotics

Funchal, PORTUGAL, MAY 11-15, 2008

Indexing

ISI Proceedings

ISI Web of Knowledge - 2 Citations

Scopus - 3 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Physical sciences > Computer science > Cybernetics > Artificial intelligence

Other information

Authenticus ID: P-004-3FG

Abstract (EN): The development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. The experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 4