Name
Title | ||
|---|---|---|
Comfortable autonomous navigation based on collision prediction in blind occluded regions |
Abstract | ||
|---|---|---|
This paper presents an approach for human passenger stress reduction while riding a personal mobility autonomous vehicle. The particular vehicle of interest is a robotic autonomous wheelchair which can provide mobility assistance in pedestrian paths. State of the art algorithms for autonomous vehicles mainly focus on collision free path planning and safe control for obstacle avoidance. This work studies comfort factors of the passenger while riding the vehicle. We propose a method for velocity control of the robotic wheelchair based on the concept of “behavior dependent observability” to reduce stress from the collision prediction in blind regions. Behavior dependent observability (BDO) is defined as the visible collision area against dynamic obstacles which is free from collision. By using BDO, the velocity of the robotic wheelchair is computed so that passengers feel comfortable. Experimental results based on physiological measurements (heart rate and galvanic skin response) show that the control of the robotic wheelchair using the behavior dependent observability decreases stressful situations for passengers. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICVES.2015.7396897 | 2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES) |
Keywords | Field | DocType |
comfortable autonomous navigation,blind occluded regions,human passenger stress reduction,personal mobility autonomous vehicle,robotic autonomous wheelchair,mobility assistance,pedestrian paths,autonomous vehicles,collision free path planning,safe control,obstacle avoidance,comfort factors,robotic wheelchair,collision prediction,blind regions,BDO,physiological measurements,behavior dependent observability,stressful situations | Motion planning,Obstacle avoidance,Wheelchair,Pedestrian,Observability,Simulation,Personal mobility,Collision,Control engineering,Engineering,Mobile robot | Conference |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Taishi Sawabe | 1 | 0 | 4.06 |
| Masayuki Kanbara | 2 | 388 | 50.91 |
| Norimichi Ukita | 3 | 227 | 42.60 |
| Tetsushi Ikeda | 4 | 95 | 9.94 |
| Luis Yoichi Morales Saiki | 5 | 80 | 6.29 |
| Atsushi Watanabe | 6 | 4 | 1.58 |
| Norihiro Hagita | 7 | 2877 | 259.10 |