2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Fernando Auat Cheein, Celso De La Cruz, Ricardo Carelli, Teodiano F. Bastos-Filho

Research output: Contribution to conferencePaper

18 Citations (Scopus)

Abstract

This paper proposes a solution to a door crossing problem in unknown environments for an autonomous wheelchair. The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model is implemented on the vehicle to direct the wheelchair motion along the path in a smooth movement. An EKF feature-based SLAM is also implemented on the vehicle which gives an estimate of the wheelchair pose inside the environment. The SLAM allows the map reconstruction of the environment for future safe navigation purposes. The entire system is evaluated in a real time simulator of a robotic wheelchair. © 2009 IEEE.
Original languageEnglish
Pages4931-4936
Number of pages6
DOIs
Publication statusPublished - 11 Dec 2009
Externally publishedYes
Eventconference -
Duration: 11 Dec 2009 → …

Conference

Conferenceconference
Period11/12/09 → …

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  • Cite this

    Cheein, F. A., De La Cruz, C., Carelli, R., & Bastos-Filho, T. F. (2009). 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 4931-4936. Paper presented at conference, . https://doi.org/10.1109/IROS.2009.5354608