TY - GEN
T1 - Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs
AU - Wolkowicz, Kelilah L.
AU - Leary, Robert D.
AU - Moore, Jason Z.
AU - Brennan, Sean N.
PY - 2019/1/1
Y1 - 2019/1/1
N2 - The motivation for this work lies in improving the performance of wheelchair guidance, even in the presence of noisy or ambiguous inputs from the user. The purpose of this paper is to implement the algorithmic procedures presented in two previous works that assess probabilistic decision-making in a real-time testing scenario by fusing spatial databases with temporal control inputs. Implementing this technique in addition to a cumulative weighted moving average allows for only minimal inputs to be provided within pre-defined decision-making regions. Consequently, a range of robotic applications can transition from fine to coarse control inputs, significantly reducing user/operator inputs while following their averaged path histories. A real-time demonstration of this technique is used in conjunction with a preview-based motion controller for path lock of a virtual wheelchair using actual joystick inputs.
AB - The motivation for this work lies in improving the performance of wheelchair guidance, even in the presence of noisy or ambiguous inputs from the user. The purpose of this paper is to implement the algorithmic procedures presented in two previous works that assess probabilistic decision-making in a real-time testing scenario by fusing spatial databases with temporal control inputs. Implementing this technique in addition to a cumulative weighted moving average allows for only minimal inputs to be provided within pre-defined decision-making regions. Consequently, a range of robotic applications can transition from fine to coarse control inputs, significantly reducing user/operator inputs while following their averaged path histories. A real-time demonstration of this technique is used in conjunction with a preview-based motion controller for path lock of a virtual wheelchair using actual joystick inputs.
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U2 - 10.1115/DSCC2019-9120
DO - 10.1115/DSCC2019-9120
M3 - Conference contribution
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Y2 - 8 October 2019 through 11 October 2019
ER -