Autonomous traveling control of the "TAO aicle" intelligent wheelchair

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

*この研究の対応する著者

研究成果: Conference contribution

34 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ4322-4327
ページ数6
DOI
出版ステータスPublished - 2006
外部発表はい
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10月 92006 10月 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
国/地域China
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

フィンガープリント

「Autonomous traveling control of the "TAO aicle" intelligent wheelchair」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル