CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs

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• 刊名：Springer Tracts in Advanced Robotics
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：113
• 期：1
• 页码：233-248
• 全文大小：553 KB
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• 作者单位：Tom Panzarella (5)
  Dylan Schwesinger (6)
  John Spletzer (6)
  
  5. Love Park Robotics, LLC, 2025 Washington Ave, Suite 217, Philadelphia, PA, 19146, USA
  6. Lehigh University, 27 Memorial Drive West, Bethlehem, PA, 18051, USA
  
• 丛书名：Field and Service Robotics
• ISBN：978-3-319-27702-8
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Control Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1610-742X

文摘

In this paper we introduce CoPilot, an active driving aid that enables semi-autonomous, cooperative navigation of an electric powered wheelchair (EPW) for automated doorway detection and traversal. The system has been cleanly integrated into a commercially available EPW, and demonstrated with both joystick and head array interfaces. Leveraging the latest in 3D perception systems, we developed both feature and histogram-based approaches to the doorway detection problem. When coupled with a sample-based planner, success rates for automated doorway traversal approaching 100 % were achieved.