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

A rule-based assistive control algorithm for safe navigation for a powered wheelchair

Teodorescu, CS; Zhang, B; Carlson, T; (2020) A rule-based assistive control algorithm for safe navigation for a powered wheelchair. In: Fradkov, Alexander L., (ed.) European Control Conference Proceedings 2020. (pp. pp. 1204-1209). IEEE: Saint Petersburg, Russia. Green open access

[thumbnail of articleECC20_Teodorescu_accepted_FINAL.pdf]
Preview
Text
articleECC20_Teodorescu_accepted_FINAL.pdf - Accepted Version

Download (1MB) | Preview

Abstract

This paper addresses the problem of safe navigation in an environment with randomly placed static obstacles. We convert a commercial powered wheelchair into a semiautonomous vehicle with limited sight (environment awareness), by instrumenting it using off-the-shelf ultrasonic sensors and associated electronic boards (Arduino). In the continuity of our previous work where we had used stochastic dynamic programming to formulate optimization problems which led to relatively large size look-up tables that can be used as supervisory control, here we propose to extract rules using those results (that data). The advantage of this approach is a lowcomputational cost for future online implementation, and the drawback is a suboptimal policy. The feasibility is assessed by running simulations in a fairly realistic environment (Unity3D).

Type: Proceedings paper
Title: A rule-based assistive control algorithm for safe navigation for a powered wheelchair
Event: European Control Conference
Location: St Petersburg, Russia
Dates: 12 May 2020 - 15 May 2020
ISBN-13: 978-3-90714-402-2
Open access status: An open access version is available from UCL Discovery
DOI: 10.23919/ECC51009.2020.9143697
Publisher version: https://doi.org/10.23919/ECC51009.2020.9143697
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
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/10091163
Downloads since deposit
52Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item