Robotic wheelchair controlled through a vision-based interface

• DOI: 10.1017/s0263574711000919
• Publication Date: 2011-08-08T09:49:54Z
• Authors: Elisa Perez; Carlos Soria; Oscar Nasisi; Teodiano Freire B...; Vicente Mut
• Keywords: 0209 industrial biotechnology; SERVICE ROBOTS; NAVIGATION; https://purl.org/becyt/ford/2.2; 02 engineering and technology; ASSISTIVE ROBOTS; https://purl.org/becyt/ford/2; COMPUTER VISION; MOBILE ROBOTS

SUMMARYIn this work, a vision-based control interface for commanding a robotic wheelchair is presented. The interface estimates the orientation angles of the user's head and it translates these parameters in command of maneuvers for different devices. The performance of the proposed interface is evaluated both in static experiments as well as when it is applied in commanding the robotic wheelchair. The interface calculates the orientation angles and it translates the parameters as the reference inputs to the robotic wheelchair. Control architecture based on the dynamic model of the wheelchair is implemented in order to achieve safety navigation. Experimental results of the interface performance and the wheelchair navigation are presented.