nach oben

Erschienen in:

2017 | OriginalPaper | Buchkapitel

Single Laser Bidirectional Sensing for Robotic Wheelchair Step Detection and Measurement

verfasst von : Shamim Al Mamun, Antony Lam, Yoshinori Kobayashi, Yoshinori Kuno

Erschienen in: Intelligent Computing Methodologies

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

Research interest in robotic wheelchairs is driven in part by their potential for improving the independence and quality-of-life of persons with disabilities and the elderly. Moreover, smart wheelchair systems aim to reduce the workload of the caregiver. In this paper, we propose a novel technique for 3D sensing of the terrain using a conventional Laser Range Finder (LRF). We mounted this sensing system onto our new six-wheeled robotic step-climbing wheelchair and propose a new step measurement technique using the histogram distribution of the laser data. We successfully measure the height of stair steps in a railway station. Our step measurement technique for the wheelchair also enables the wheelchair to autonomously board a bus. Our experiments show the effectiveness and its applicability to real world robotic wheelchair navigation.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Vorheriges Kapitel An Effective EM-PND Based Integrated Approach for NRSFM with Small Size Sequences

Nächstes Kapitel Detecting Inner Emotions from Video Based Heart Rate Sensing

Overview of Disability, 21 September 2016. http://www.worldbank.org/en/topic/disability/overview. Accessed 22 Feb 2017

Fehr, L., Langbein, W.E., Skaar, S.B.: Adequacy of power wheelchair control interfaces for persons with severe disabilities: a clinical survey. J. Rehabil. Res. Dev. 37(3), 353–360 (2000)

Kuno, Y., Shimada, N., Shirai, Y.: Look where you’re going: a robotic wheelchair based on the integration of human and environmental observations. IEEE Robot. Autom. 10(1), 26–34 (2003)CrossRef

Min, J., Lee, K., Lim, S., Kwon, D.: Human friendly interfaces of wheelchair robotic system for handicapped persons. In: Proceedings of International Conference on Intelligent Robots and Systems (IROS), vol. 2, pp. 1505–1510 (2011)

Satoh, Y., Sakaue, K.: An omnidirectional stereo vision-based smart wheelchair. J. Image Video Process. 2007, 87646 (2007)CrossRef

Suzuki, R., Yamada, T., Arai, M., Sato, Y., Kobayashi, Y., Kuno, Y.: Multiple robotic wheelchair system considering group communication. In: International Conference on Visual Computing (ISVC 2014), vol. 8887, no. Part I, pp. 805–814 (2014)

Kobayashi, Y., Kinpara, Y., Takano, E., Kuno, Y., Yamazaki, K., Yamazaki, A.: Robotic wheelchair moving with caregiver collaboratively. In: Huang, D.-S., Gan, Y., Gupta, P., Gromiha, M.M. (eds.) ICIC 2011. LNCS, vol. 6839, pp. 523–532. Springer, Heidelberg (2012). doi:10.1007/978-3-642-25944-9_68 CrossRef

Mamun, S.A., Suzuki, R., Lam, A., Kobayashi, Y., Kuno, Y.: Terrain recognition for smart wheelchair. In: Huang, D.-S., Han, K., Hussain, A. (eds.) ICIC 2016. LNCS, vol. 9773, pp. 461–470. Springer, Cham (2016). doi:10.1007/978-3-319-42297-8_43 CrossRef

Lv, J., Kobayashi, Y., Hoshino, Y., Emaru, T.: Slope detection based on orthogonal assumption. In: IEEE/SICE International Symposium on system Integration (SII) (2012)

10.

Hwang, Y., Lee, J.: Robust 3D map building for a mobile robot moving on the floor. In: IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (2015)

11.

Yi, C., Jeong, S., Cho, J.: Map representation for robots. Smart Comput. Rev. 2(1), 18–27 (2012)

12.

Nemoto, Z., Takemura, H., Mizoguchi, H.: Development of small-sized omnidirectional laser range scanner and its application to 3D background difference. In: Proceedings of IEEE 33rd Annual Conference Industrial Electronics Society (IECON 2007), pp. 2284–2289 (2007)

13.

Obwald, S., Görög, A., Hornung, A., Bennewitz, M.: Autonomous climbing of spiral staircases with humanoids. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2011)

14.

Poppinga, J., Birk, A., Pathak, K.: Hough based terrain classification for real time detection of drivable ground. J. Field Robot. 25(1–2), 67–88 (2008)CrossRef

15.

Sheh, R., Kadous, M., Sammut, C., Hengst, B.: Extracting terrain features from range images for autonomous random step field traversal. In: Proceedings of IEEE International Workshop on Safety, Security and Rescue Robotics (2007)

16.

Fujita, T., Kondo, Y.: Robot Arms (2011). ISBN 978-953-307-160-2. (Book Edited by Satoru Goto)

17.

Hsiao, C.W., Chien, Y.H., Wang, W.Y., Li, I.H., Chen, M.C., Su, S.F.: Wall following and continuously stair climbing systems for a tracked robot. In: 2015 IEEE 12th International Conference on Networking, Sensing and Control, Taipei, pp. 371–375 (2015)

18.

Shen, J., Xu, B., Pei, M., Jia, Y.: A low-cost tele-presence wheelchair system. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2452–2457 (2016)

19.

Carbonara, S., Guaragnella, C.: Efficient stairs detection algorithm assisted navigation for vision impaired people. In: 2014 IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA) Proceedings, pp. 313–318 (2014)

20.

Ishikawa, M., et al.: Travel Device. Patent Number: WO2016/006248 A1 (2016)

21.

Shin, Y., Park, J., Bae, J., Baeg, M.: A study on reliability enhancement for laser and camera calibration. Int. J. Control Autom. Syst. 10(1), 109–116 (2012)CrossRef

Titel: Single Laser Bidirectional Sensing for Robotic Wheelchair Step Detection and Measurement
verfasst von: Shamim Al Mamun
Antony Lam
Yoshinori Kobayashi
Yoshinori Kuno
Verlag: Springer International Publishing
Buch: Intelligent Computing Methodologies
Print ISBN: 978-3-319-63314-5

Electronic ISBN: 978-3-319-63315-2

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-63315-2_4

Springer Professional

Abstract

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"

Premium Partner