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On passing a doorway with an autonomous Internet connected wheelchair using MATLAB
Luleå tekniska universitet.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
2005 (English)In: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems: Edmonton, AB, Canada, 2 - 6 August 2005, Piscataway, NJ: IEEE Communications Society, 2005, 1532-1537 p.Conference paper (Refereed)
Abstract [en]

If a wheelchair for disabled is used for semi-autonomous navigation indoors it must be able to navigate through doors. A door and doorway can be parameterized with five parameters. A divide and conquer implementation of the Hough transform is used to segment outlines from range scans. The client software remote controls the wheelchair from the MATLAB environment. The software consists of several Java threads that run concurrently. Sensor data are polled by threads and put into databases to reduce the network lag. The databases are used by a controller and a Kalman filter. Since most of the implementation is coded in Java it is possible to run it as a stand alone program on a computer that has Java installed. From 10 runs the trajectory offset was calculated to 0.9 cm with a standard deviation of 1.4 cm. The standard deviation of the heading was 2.2 degrees. This performance is essentially independent of the initial starting pose

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2005. 1532-1537 p.
Research subject
Industrial Electronics
URN: urn:nbn:se:ltu:diva-27614DOI: 10.1109/IROS.2005.1545567ScopusID: 79958002059Local ID: 11af3aa0-4fab-11db-9592-000ea68e967bISBN: 0-7803-8912-3OAI: diva2:1000801
IEEE/RSJ International Conference on Intelligent Robots and Systems : 02/08/2005 - 06/08/2005

Godkänd; 2005; 20060913 (ysko)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2016-10-19Bibliographically approved

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Hyyppä, KaleviWernersson, Åke
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