Autonomous traveling control of the "TAO aicle" intelligent wheelchair

Osamu Matsumoto, Kiyoshi Komoriya, Tsutomu Hatase, Hideki Nishimura, Koji Toda, Shigeki Goto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

32 Citations (Scopus)

Abstract

This paper reports on the development of the "TAO Aide", an intelligent wheelchair with autonomous traveling capability. The wheelchair can accurately determine its position and direction using internal sensors and external assistance from the surrounding environment, including the Global Positioning System (GPS) and Radio Frequency Identification (RFID). It can also detect obstacles it encounters on the road using a laser range sensor. To confirm the effectiveness of our research results, for six months at the Aichi Expo 2005 we demonstrated the wheelchair system by offering trial rides to visitors. This paper describes the total system of "TAO Aide", the positioning method using GPS and RFID, and the autonomous traveling control based on accurate estimations of position and direction using Kalman filtering. Our experimental results at the Aichi Expo demonstrated that accurate trajectory following performance can be achieved using assistance from the infrastructure (GPS, RFID) and that "TAO Aide" could perform safe autonomous traveling without severe accidents.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages4322-4327
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • GPS
  • Localization
  • RFID
  • Trajectory control
  • Vehicle
  • Wheelchair

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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