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A Spatially and Temporally Scalable Approach for Long-Term Lakeshore Monitoring Read chapter Read first chapter

2016 | OriginalPaper | Chapter

CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs

Authors : Tom Panzarella, Dylan Schwesinger, John Spletzer

Published in: Field and Service Robotics

Publisher: Springer International Publishing

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Abstract

In this paper we introduce CoPilot, an active driving aid that enables semi-autonomous, cooperative navigation of an electric powered wheelchair (EPW) for automated doorway detection and traversal. The system has been cleanly integrated into a commercially available EPW, and demonstrated with both joystick and head array interfaces. Leveraging the latest in 3D perception systems, we developed both feature and histogram-based approaches to the doorway detection problem. When coupled with a sample-based planner, success rates for automated doorway traversal approaching 100 % were achieved.

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Metadata
Title
CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs
Authors
Tom Panzarella
Dylan Schwesinger
John Spletzer
Copyright Year
2016
Book
Field and Service Robotics

Print ISBN: 978-3-319-27700-4

Electronic ISBN: 978-3-319-27702-8

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-27702-8_16