The autonomous mobile robot SENARIO: a sensor aided intelligent navigation system for powered wheelchairs

Author

Katevas, N.I. ; Sgouros, N.M. ; Tzafestas, S.G. ; Papakonstantinou, G. ; Beattie, P. ; Bishop, J.M. ; Tsanakas, P. ; Koutsouris, D.

Author_Institution

Dept. of Ind. Autom., Zenon SA, Athens, Greece

Volume

4

Issue

4

fYear

1997

fDate

12/1/1997 12:00:00 AM

Firstpage

60

Lastpage

70

Abstract

The SENARIO project is develoing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs. The authors discuss new and improved technologies developed within SENARIO concerning task/path planning, sensing and positioning for indoor mobile robots as well as user interface issues. The autonomous mobile robot SENARIO, supports semi- or fully autonomous navigation. In semi-autonomous mode the system accepts typical motion commands through a voice-activated or standard joystick interface and supports robot motion with obstacle/collision avoidance features. Fully autonomous mode is a superset of semi-autonomous mode with the additional ability to execute autonomously high-level go-to-goal commands. At its current stage, the project has succeeded in fully supporting semi-autonomous navigation, while experiments on the fully autonomous mode are very encouraging

Keywords

handicapped aids; intelligent control; mobile robots; navigation; path planning; position control; sensors; user interfaces; SENARIO; autonomous mobile robot; intelligent navigation system; obstacle avoidance; path planning; position control; powered wheelchairs; rehabilitation robotics; task planning; user interface; Collision avoidance; Intelligent robots; Intelligent sensors; Intelligent systems; Mobile robots; Navigation; Path planning; Robot motion; User interfaces; Wheelchairs;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.637806

Filename

637806