Lecture 25 Dimitar Stefanov.

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Presentation transcript:

Lecture 25 Dimitar Stefanov

Autonomous-Guided Wheelchairs Go-to-goal wheelchairs

Wheelchair Control, based on Visual servoing of the head position Shirai Lab (1997-1998)

Wheelchair Control, based on Visual servoing of the head position (continue)

Wheelchair Control, based on Visual servoing of the head position (continue)

TAO-1 Intelligent Wheelchair Applied AI Systems Inc.

TAO-1 Intelligent Wheelchair Main characteristics Infared and bump sensors Automatic visual avoidance Voice command response Collision avoidance Passage through a narrow corridor Entry through a narrow doorway Landmark based navigation

TinMan intelligent wheelchair controller Main characteristics KISS Institute for Practical Robotics (KIPR) supplemental wheelchair controller that can be retrofitted to existing wheelchairs safely and independently operation a powered wheelchair by users who has partial visual impairment or brain damage, sensors for obstacles detection

TinMan intelligent wheelchair controller (continue)

Light guidance system Dohi Lab

Autonomous guided wheelchair Nagasaki University and Ube Technical College position error: 0.35 m; angular error: 17 degrees uses existing ceiling lights vision sensor (position) azimuth sensor (orientation) wheels angle rotation sensor (odometric information) laser range sensor (obstacles detection)

MAid project Research Institute for Applied Knowledge Processing FAW robotic wheelchair for transport of elderly semi-autonomous mode autonomous mode wheel encoders fiber-optic gyroscope sonar system infrared sensors SICK

Wheelesley Intelligent wheelchair

Wheelesley (continue) started at Wellesley College in 1995 (Holly Yanco) Developed at the KISS Institute moved to the MIT Artificial Intelligence Laboratory interface EagleEyes system (EOG - electro-oculographic potential)

Wheelesley EagleEyes system

NavChair University of Michigan

NavChair (continue) University of Michigan (Simon Levine, Johann Borenstein) obstacle avoidance, follow walls narrow doorway passage

NavBelt University of Michigan Device for guidance of blind people. NavBelt generates acoustic cues conveyed to the user via headphones.

GuideCane University of Michigan Device for guidance of blind people. Fully automatic ultrasonic sensor-based obstacle avoidance Position information by combining odometry, compass, and gyroscope data

Drive Assistant (cont)

Drive Assistant (continue) VTT Machine Automation Tampere, Finland vehicle positioning and navigation dead reckoning differential GPS passive transponders natural landmarks in the environment laser based navigation part of the project FOCUS for the TIDE programme ultrasonic sensors M3S interface.

SENARIO (1994)

SENARIO (Ultrasonic sensors)

SENARIO (continue) Intelligence in the navigation systems of the powered wheelchair Autonomous mode - "go to goal" commands Obstacles and risks avoidance system.

Intelligent wheelchair at the University of Notre Dame (1994)

PAM - AID project Personal Adaptive Mobility Aid for the Infirm and Elderly Blind outdoor navigation PLUS physically support Labmate mobile base Joystick Polaroid sonar sensors Infrared proximity sensors command bar with Braile code key tone and voice feedback

HITOMI Yamanishi University (Japan) “hitomi” = pupil outdoor navigation PLUS physically support vision system sonar system DGPS and digital map voice MMI command bar with Braille code key.