Title :
Navigation paradigm of a prehensive robotics assistance
Author :
Allart, B. ; Marhic, B. ; Delahoche, L. ; Rémy-Néris, O.
Author_Institution :
Univ. of Picardie Jules Verne, Amiens
Abstract :
This article deals with a target tracking application for the disabled. The objective of this work is to track a wheelchair with a mobile platform and an embedded grasping arm (MANUS). We propose an approach based on an association of two Kalman filtering levels. The first level permits an estimation of the wheelchair configuration. The second is used to compute the mobile platform configuration in connection with its environment. The association of the two filtering process allows a robust tracking between two objects in movement.
Keywords :
Kalman filters; handicapped aids; medical robotics; mobile robots; target tracking; Kalman filter; embedded grasping arm; navigation paradigm; physically disabled people; prehensive mobile robotic assistance; target tracking application; wheelchair configuration; Filtering; Kalman filters; Mobile computing; Mobile robots; Navigation; Radar tracking; Robot sensing systems; Robustness; Target tracking; Wheelchairs;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412575
