Kinect based Intelligent Wheelchair navigation with potential fields

Author

OÌˆzcÌ§eliÌ‡koÌˆrs, Mustafa ; Coskun, Aylin ; Say, M. Girayhan ; Yazici, Adnan ; Yayan, Ugur ; AkcÌ§akoca, Mehmet

Author_Institution

Eskisehir Osmangazi Univ., Eskisehir, Turkey

fYear

2014

fDate

23-25 June 2014

Firstpage

330

Lastpage

337

Abstract

Increasing elderly people population and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important role on improving the lives and mobilization of people with disabilities. Moreover, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, Finite state machine (FSM) based high-level controller and Kinect based navigation algorithm have been developed for ATEKS (Intelligent Wheelchair) which has high-tech control mechanisms, low-cost sensors and open source software (ROS, GAZEBO, ANDROID).

Keywords

finite state machines; geriatrics; handicapped aids; intelligent robots; mobile robots; path planning; sensors; service robots; ANDROID; ATEKS; FSM based high-level controller; GAZEBO; Kinect based intelligent wheelchair navigation; ROS; autonomous wheelchairs; elderly people population; finite state machine based high-level controller; high-tech control mechanisms; intelligent wheelchair; low-cost sensors; mobilization; open source software; people with disabilities; potential fields; Acoustics; Intelligent sensors; Navigation; Robot sensing systems; Wheelchairs; Finite State Machine; Kinect; ROS; indoor navigation; intelligent wheelchair; mobile robots; potential fields;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovations in Intelligent Systems and Applications (INISTA) Proceedings, 2014 IEEE International Symposium on

Conference_Location

Alberobello

Print_ISBN

978-1-4799-3019-7

Type

conf

DOI

10.1109/INISTA.2014.6873640

Filename

6873640