Experimental Setup for Human Aware Navigation

Arturo Escobedo 1 Anne Spalanzani 1 Christian Laugier 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : Validation of algorithms developed by assistance robotics research on real platforms is essential. Producing robotic architectures that promote scientific advances while regarding usability for the final user is a challenging issue where an appropriate trade-off between both requirements must be found. This paper proposes a new framework for the development of mobility assistance techniques to improve the quality of life of elder population using a robotic wheelchair. An example of improvement of the wheelchair navigation is presented. The control of the wheelchair is done using a Bayesian semi-autonomous approach that estimates the user intended destination from input commands given through a Kinect sensor. Safe and comfortable autonomous navigation is performed using a probabilistic navigation method that takes into account the dynamics of the environment and human social conventions.
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https://hal.inria.fr/hal-00746567
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Submitted on : Monday, October 29, 2012 - 1:32:22 PM
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Arturo Escobedo, Anne Spalanzani, Christian Laugier. Experimental Setup for Human Aware Navigation. Control Architectures of Robots, May 2012, Nancy, France. ⟨hal-00746567⟩

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