Name
Abstract | ||
|---|---|---|
Reliable autonomous navigation is an active research topic that has drawn the attention for decades, however, human factors such as navigational comfort has not received the same level of attention. This work proposes the concept of "comfortable map" and presents a navigation approach for autonomous passenger vehicles which in top of being safe and reliable is comfortable. In our approach we first extract information from users preference related to comfort while sitting on a robotic wheelchair under different conditions in an indoor corridor environment. Human-comfort factors are integrated to a geometric map generated by SLAM framework. Then a global planner computes a safe and comfortable path which is followed by the robotic wheelchair. Finally, an evaluation with 29 participants using a fully autonomous robotic wheelchair, showed that more than 90% of them found the proposed approach more comfortable than a shortest-path state of the art approach. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IROS.2013.6696743 | IROS |
Keywords | Field | DocType |
SLAM (robots),geometry,human factors,mobile robots,path planning,service robots,SLAM framework,autonomous passenger vehicles,autonomous robotic wheelchair,comfortable map,comfortable path,geometric map,global planner,human-comfort factors,human-comfortable navigation,indoor corridor environment,reliable autonomous navigation,shortest-path state of the art approach,user preference | Wheelchair,Motion planning,Computer vision,Simulation,Computer science,Planner,Artificial intelligence,Mobile robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 20 | 0.94 |
References | Authors | |
11 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yoichi Morales | 1 | 39 | 6.06 |
| Nagasrikanth Kallakuri | 2 | 34 | 2.02 |
| Kazuhiko Shinozawa | 3 | 343 | 31.97 |
| Takahiro Miyashita | 4 | 409 | 41.40 |
| Norihiro Hagita | 5 | 2877 | 259.10 |