Visual servoing for autonomous doorway passing in a wheelchair using a single doorpost

Vishnu Karakkat Narayanan 1 François Pasteau 1 Marie Babel 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Constrained spaces like doorways make efficient navigation using a wheelchair difficult and hazardous, especially in the cases where the user suffers from motor impairments. This paper introduces a monocular vision based autonomous framework for the fundamental task of doorway passing in an electric wheelchair. We propose a novel Lyapunov-based visual control process which is used to generate a smooth trajectory about a single doorpost. The scheme relies on line features which represent the doorposts in an image to calculate the wheelchair motion. This framework ensures that the wheelchair is able to pass the doorway regardless of its starting position. Results of experiments on a robotic wheelchair show that the system is able to perform robustly in different corridors with a variety of door representations.
Type de document :
Communication dans un congrès
IEEE/RSJ IROS Workshop on Assistance and Service Robotics in a Human Environment, ASROB, Sep 2014, Chicago, United States. 2014
Liste complète des métadonnées

Littérature citée [19 références]  Voir  Masquer  Télécharger
https://hal.inria.fr/hal-01060196
Contributeur : Eric Marchand <>
Soumis le : mercredi 3 septembre 2014 - 10:21:22
Dernière modification le : mercredi 11 avril 2018 - 02:00:23
Document(s) archivé(s) le : jeudi 4 décembre 2014 - 10:56:12

Fichier

2014_wkiros_narayanan.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01060196, version 1

Collections

INRIA | IRISA | IRISA-INSA-R | IRISA-D5 | UR1-UFR-ISTIC | UNIV-RENNES | INRIA-RENGRE

Citation

Vishnu Karakkat Narayanan, François Pasteau, Marie Babel, François Chaumette. Visual servoing for autonomous doorway passing in a wheelchair using a single doorpost. IEEE/RSJ IROS Workshop on Assistance and Service Robotics in a Human Environment, ASROB, Sep 2014, Chicago, United States. 2014. 〈hal-01060196〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

437

Téléchargements de fichiers

173

Contact


archive-ouverte@inria.fr