A robust navigation system for robotic wheelchairs

Celso De La Cruz; Wanderley Cardoso Celeste; Teodiano Freire Bastos

doi:10.1016/j.conengprac.2010.11.007

A robust navigation system for robotic wheelchairs

Celso De La Cruz, Wanderley Cardoso Celeste, Teodiano Freire Bastos

Universidade Federal do Espirito Santo

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

A landmark based navigation system for robotic wheelchairs is developed. The proposed navigation system is robust in the localization procedure which is the major problem in robotic navigation systems. Every landmark is composed of a segment of metallic path and a radio-frequency identification (RFID) tag. The odometry information is used for localization, which is corrected on-line every time the robotic wheelchair is over a landmark. A topological map is generated using such landmarks to compute the shortest path. A technique to generate the topological map for this navigation system and an obstacle avoidance strategy are also developed.

Original language	English
Pages (from-to)	575-590
Number of pages	16
Journal	Control Engineering Practice
Volume	19
Issue number	6
DOIs	https://doi.org/10.1016/j.conengprac.2010.11.007
State	Published - Jun 2011
Externally published	Yes

Keywords

Inductive sensor
Navigation system
Obstacle avoidance
Robotic wheelchair
Topological map

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10.1016/j.conengprac.2010.11.007

Cite this

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title = "A robust navigation system for robotic wheelchairs",

abstract = "A landmark based navigation system for robotic wheelchairs is developed. The proposed navigation system is robust in the localization procedure which is the major problem in robotic navigation systems. Every landmark is composed of a segment of metallic path and a radio-frequency identification (RFID) tag. The odometry information is used for localization, which is corrected on-line every time the robotic wheelchair is over a landmark. A topological map is generated using such landmarks to compute the shortest path. A technique to generate the topological map for this navigation system and an obstacle avoidance strategy are also developed.",

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author = "{De La Cruz}, Celso and Celeste, {Wanderley Cardoso} and Bastos, {Teodiano Freire}",

year = "2011",

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AU - Celeste, Wanderley Cardoso

AU - Bastos, Teodiano Freire

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AB - A landmark based navigation system for robotic wheelchairs is developed. The proposed navigation system is robust in the localization procedure which is the major problem in robotic navigation systems. Every landmark is composed of a segment of metallic path and a radio-frequency identification (RFID) tag. The odometry information is used for localization, which is corrected on-line every time the robotic wheelchair is over a landmark. A topological map is generated using such landmarks to compute the shortest path. A technique to generate the topological map for this navigation system and an obstacle avoidance strategy are also developed.

KW - Inductive sensor

KW - Navigation system

KW - Obstacle avoidance

KW - Robotic wheelchair

KW - Topological map

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JO - Control Engineering Practice

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A robust navigation system for robotic wheelchairs

Abstract

Keywords

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