DocumentCode
172900
Title
Dynamical system approach for obstacle avoidance in a Smart Walker device
Author
Faria, Vitor ; Silva, Jaime ; Martins, Miguel ; Santos, Cristina
Author_Institution
Dept. of Electr. Eng., Univ. of Minho, Guimaraes, Portugal
fYear
2014
fDate
14-15 May 2014
Firstpage
261
Lastpage
266
Abstract
The need for Smart Walkers to help navigation of elderly is increasing rapidly. This paper proposes an approach based on the Dynamical System Approach for obstacle avoidance of a Smart Walker device. Layers of sonars are distributed on the walker for detecting obstacles and stairs. A simulated model of the ASBGo Walker [1] and several realistic simulations in a hospital environment with typical hospital obstacles illustrate the good performance of the approach.
Keywords
collision avoidance; geriatrics; medical robotics; ASBGo Walker; dynamical system approach; elderly navigation; hospital obstacles; obstacle avoidance; obstacle detection; smart walker device; sonar layers; stair detection; Collision avoidance; Hospitals; Navigation; Robots; Sonar detection; Sonar measurements;
fLanguage
English
Publisher
ieee
Conference_Titel
Autonomous Robot Systems and Competitions (ICARSC), 2014 IEEE International Conference on
Conference_Location
Espinho
Type
conf
DOI
10.1109/ICARSC.2014.6849796
Filename
6849796
Link To Document