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ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor

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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Authors:
Yassine Nasri, Vincent Vauchey, Redouane Khemmar, Nicolas Ragot, Konstantinos Sirlantzis, Jean-Yves Ertaud
10.5120/ijca2016907533

Yassine Nasri, Vincent Vauchey, Redouane Khemmar, Nicolas Ragot, Konstantinos Sirlantzis and Jean-Yves Ertaud. Article: ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor. International Journal of Computer Applications 133(6):12-17, January 2016. Published by Foundation of Computer Science (FCS), NY, USA. BibTeX

@article{key:article,
	author = {Yassine Nasri and Vincent Vauchey and Redouane Khemmar and Nicolas Ragot and Konstantinos Sirlantzis and Jean-Yves Ertaud},
	title = {Article: ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor},
	journal = {International Journal of Computer Applications},
	year = {2016},
	volume = {133},
	number = {6},
	pages = {12-17},
	month = {January},
	note = {Published by Foundation of Computer Science (FCS), NY, USA}
}

Abstract

In the medical sector, and mainly for dependent patients with movement disabilities, controlling an electric powered wheelchair could prove a challenging task. Thus, implementing an autonomous navigation algorithm for static/dynamic environments could provide an easier way to move. Within this context, this paper presents innovative work on integrating a novel method of image-based geolocalization in a powered wheelchair. The work focuses on integrating the geolocalization algorithm within the Robot Operating System (ROS) framework. Tests are being conducted using an omnidirectional camera fixed on an automated wheelchair control system. Our results show low control errors both in straight line and curved paths. The proposed algorithm was developed by the ESIGELEC laboratory.

References

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Keywords

Image-based geolocalization, automated robotic wheelchair, omnidirectional vision sensor.