Devigne, L;
Pasteau, F;
Carlson, T;
Babel, M;
(2019)
A shared control solution for safe assisted power wheelchair navigation in an environment consisting of negative obstacles: a proof of concept.
In:
2019 IEEE International Conference on Systems, Man and Cybernetics (SMC).
(pp. pp. 1043-1048).
IEEE: Bari, Italy.
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Abstract
Power wheelchairs allow people with motor disabilities to have more mobility and independence. However, driving safely such a vehicle is a daily challenge particularly in urban environments while navigating on sidewalks, negotiating curbs or dealing with uneven grounds. Indeed, differences of elevation have been reported to be one of the most challenging environmental barrier to negotiate, with tipping and falling being the most common accidents power wheelchair users encounter. It is thus our challenge to design assistive solutions for power wheelchair navigation in order to improve safety while navigating in such environments. To this aim, we propose a shared-control algorithm which provides assistance while navigating with a wheelchair in an environment consisting of negative obstacles. We designed a dedicated sensor-based control law allowing trajectory correction while approaching negative obstacles e.g. steps, curbs, descending slopes. This shared control proposed method takes into account the humanin-the loop factor. In this study, our solution the ability of our system to ensure a safe trajectory while navigating on a sidewalk is demonstrated through simulation, thus providing a proof-of-concept of our method.
Type: | Proceedings paper |
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Title: | A shared control solution for safe assisted power wheelchair navigation in an environment consisting of negative obstacles: a proof of concept |
Event: | IEEE International Conference on Systems Man and Cybernetics |
Location: | Bari, Italy |
Open access status: | An open access version is available from UCL Discovery |
DOI: | 10.1109/SMC.2019.8914211 |
Publisher version: | https://doi.org/10.1109/SMC.2019.8914211 |
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. |
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 |
URI: | https://discovery.ucl.ac.uk/id/eprint/10077852 |
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