UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

A shared control solution for safe assisted power wheelchair navigation in an environment consisting of negative obstacles: a proof of concept

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. Green open access

[thumbnail of SMC19_0932_ACCEPTED.pdf]
Preview
Text
SMC19_0932_ACCEPTED.pdf - Accepted Version

Download (3MB) | Preview

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
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
Downloads since deposit
85Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item