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Presentation transcript:

ffffffffffffffffffffffff Controlling an Automated Wheelchair via Joystick/Head-Joystick Supported by Smart Driving Assistance Thomas Röfer 1 Christian Mandel 2 Tim Laue 1 ffffffffffffffffffffffff Experimental Evaluation: Speed vs. Steering subject 1 subject 2 subject 3 subject 4 subject 5 subject 6 subject 7 subject 8 Experimental Evaluation: XSens IMU vs. Proprietary IMU time [ms] vs. pitch/roll [°] time [ms] vs. acceleration [m/s2] time [ms] vs. angular speed [°/s] Thanks to Bernd Gersdorf for setting up Rolland III and its hardware components, Christoph Budelmann for designing the proprietary IMU-board, and Modar Ibraheem for implementing the EKF-based attitude estimation. Acknowledgements Contact1: German Research Center for Artificial Intelligence, Bremen/Germany {thomas.roefer, tim.laue}@dfki.de Contact2: Transregional Collaborative Research Center for Spatial Cognition, Bremen/Germany cmandel@uni-bremen.de