Technical assistance: Two method for tracking of a wheelchair

This project deals with technical assistance for people of reduced mobility. We propose to study the technical of an original approach, which consists of mounting a prehensile arm onto a mobile base. The use of this mobile unit in relation to the patientpsilas wheelchair is carried out on a master-slave basis.. To ensure the tracking of the wheelchair by the mobile platform, we will present and compare two tracking approaches based on Kalman filterpsilas algorithm. The framework of the proposed algorithms for the tracking is named ldquoBearing only trackingrdquo or ldquoAngle only trackingrdquo. The first algorithm permits an estimation of the wheelchair configuration in its environment and the second uses a relative state configuration to compute the position and the velocity of the wheelchair with no prior knowledge of the environment. The proposed method allows a robust tracking between a mobile target (wheelchair) and a mobile observer (assistive platform).