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Authors: Rodrigo A. M. Braga ; Marcelo Petry ; Eugenio Oliveira and Luis Paulo Reis

Affiliation: Artificial Intelligence and Computer Science Lab-LIACC, Faculty of Engineering of University of Porto, Portugal

ISBN: 978-989-8111-31-9

Keyword(s): Intelligent Wheelchair, Intelligent Robotics, Strips Planning, Path Planning, A* Algorithm.

Related Ontology Subjects/Areas/Topics: Human Augmentation and Shared Control ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. The experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

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Paper citation in several formats:
A. M. Braga R.; Petry M.; Oliveira E.; Paulo Reis L. and (2008). MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-31-9, pages 179-182. DOI: 10.5220/0001498801790182

@conference{icinco08,
author={Rodrigo {A. M. Braga} and Marcelo Petry and Eugenio Oliveira and Luis {Paulo Reis}},
title={MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2008},
pages={179-182},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001498801790182},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM
SN - 978-989-8111-31-9
AU - A. M. Braga, R.
AU - Petry, M.
AU - Oliveira, E.
AU - Paulo Reis, L.
PY - 2008
SP - 179
EP - 182
DO - 10.5220/0001498801790182

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