Transcript Lecture 25
Lecture 25 Dimitar Stefanov Autonomous-Guided Wheelchairs Go-to-goal wheelchairs Wheelchair Control, based on Visual servoing of the head position Shirai Lab (1997-1998) Wheelchair Control, based on Visual servoing of the head position (continue) Wheelchair Control, based on Visual servoing of the head position (continue) TAO-1Intelligent Wheelchair Applied AI Systems Inc. TAO-1 Intelligent Wheelchair Main characteristics • • • • • • • Infared and bump sensors Automatic visual avoidance Voice command response Collision avoidance Passage through a narrow corridor Entry through a narrow doorway Landmark based navigation TinMan intelligent wheelchair controller Main characteristics • KISS Institute for Practical Robotics (KIPR) • supplemental wheelchair controller that can be retrofitted to existing wheelchairs • safely and independently operation a powered wheelchair by users who has partial visual impairment or brain damage, • sensors for obstacles detection TinMan intelligent wheelchair controller (continue) Light guidance system Dohi Lab Autonomous guided wheelchair Nagasaki University and Ube Technical College •position error: 0.35 m; •angular error: 17 degrees • • • • • uses existing ceiling lights vision sensor (position) azimuth sensor (orientation) wheels angle rotation sensor (odometric information) laser range sensor (obstacles detection) MAid project Research Institute for Applied Knowledge Processing FAW • • • • • • • robotic wheelchair for transport of elderly semi-autonomous mode autonomous mode wheel encoders fiber-optic gyroscope sonar system infrared sensors SICK Wheelesley Intelligent wheelchair Wheelesley (continue) • started at Wellesley College in 1995 (Holly Yanco) • Developed at the KISS Institute • moved to the MIT Artificial Intelligence Laboratory • interface EagleEyes system (EOG - electrooculographic potential) Wheelesley EagleEyes system NavChair University of Michigan NavChair (continue) • University of Michigan (Simon Levine, Johann Borenstein) • obstacle avoidance, follow walls • narrow doorway passage NavBelt University of Michigan Device for guidance of blind people. NavBelt generates acoustic cues conveyed to the user via headphones. GuideCane University of Michigan Device for guidance of blind people. •Fully automatic ultrasonic sensor-based obstacle avoidance •Position information by combining odometry, compass, and gyroscope data Drive Assistant (cont) Drive Assistant (continue) • VTT Machine Automation Tampere, Finland • vehicle positioning and navigation • dead reckoning • differential GPS • passive transponders • natural landmarks in the environment • laser based navigation • part of the project FOCUS for the TIDE programme • ultrasonic sensors • M3S interface. SENARIO (1994) SENARIO (Ultrasonic sensors) SENARIO (continue) • Intelligence in the navigation systems of the powered wheelchair • Autonomous mode - "go to goal" commands • Obstacles and risks avoidance system. Intelligent wheelchair at the University of Notre Dame (1994) PAM - AID project Personal Adaptive Mobility Aid for the Infirm and Elderly Blind •outdoor navigation PLUS physically support •Labmate mobile base • Infrared proximity sensors • command bar with Braile code key • tone and voice feedback •Joystick •Polaroid sonar sensors HITOMI Yamanishi University (Japan) • “hitomi” = pupil • outdoor navigation PLUS physically support • vision system • sonar system •DGPS and digital map •voice MMI •command bar with Braille code key.