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Probabilistic Shared Control for a Smart Wheelchair: A Stochastic Model-Based Framework

Teodorescu, CS; Zhang, B; Carlson, T; (2019) Probabilistic Shared Control for a Smart Wheelchair: A Stochastic Model-Based Framework. In: Proceedings of the 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC). (pp. pp. 3136-3141). IEEE: Bari, Italy. Green open access

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Abstract

This article presents progress made towards implementing a shared control framework for a smart wheelchair based upon stochastic dynamic programming (a model-based control design). First, we describe the mechanical, electrical and software design process of our instrumented wheelchair platform. Then, we detail a deterministic control-oriented model of the wheelchair motion dynamics using Euler-Lagrange equations. Finally, we discuss the development of a stochastic model of the human driver’s intention in view of using Markov chain.

Type: Proceedings paper
Title: Probabilistic Shared Control for a Smart Wheelchair: A Stochastic Model-Based Framework
Event: 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)
Location: Bari, Italy
Dates: 6th-9th October 2019
ISBN-13: 978-1-7281-4569-3
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/SMC.2019.8914407
Publisher version: https://doi.org/10.1109/SMC.2019.8914407
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Wheelchairs, Wheels, Sensors, Stochastic processes, Vehicle dynamics, Acoustics, Instruments
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Chemical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10077196
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