Title :
A Procedure to make the Probabilistic Odometry Motion Model of an Autonomous Wheelchair
Author :
Yaqub, Tahir ; Tordon, Michal J. ; Katupitiya, Jayantha
Author_Institution :
Sch. of Mech. & Manuf. Eng., New South Wales Univ., Sydney, NSW
Abstract :
We present a new and completely probabilistic approach to extract the unknown motion model of an autonomous wheelchair. This method is, however, general and can be applied to any mobile robot. Particle filter based methods are very popular for localization and navigation of mobile robots. These methods use motion model for the prediction of robot states when a control action is taken. Well theoretical foundation has been established but only few applications exist. Mostly this model is assumed arbitrarily and fails during the implementation phase. We make the model using probabilistic procedure after getting the real data. The inferences are efficiently made by two table lookup commands during implementation of the particle filter. This can also be used in a hierarchical fashion. The model is validated and experimental results are shown
Keywords :
distance measurement; handicapped aids; inference mechanisms; medical robotics; mobile robots; motion control; particle filtering (numerical methods); position control; probability; robot kinematics; table lookup; autonomous wheelchair; mobile robot; particle filtering; probabilistic kinematic models; probabilistic odometry motion model; robot localization; robot navigation; robot states prediction; table lookup; Manufacturing automation; Mobile robots; Motion control; Navigation; Particle filters; Probability distribution; Robot sensing systems; Table lookup; Velocity control; Wheelchairs;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257608
