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2008

User-adapted plan recognition and user-adapted shared control: A Bayesian approach to semi-autonomous wheelchair driving

10 years 2 months ago
User-adapted plan recognition and user-adapted shared control: A Bayesian approach to semi-autonomous wheelchair driving
Abstract Many elderly and physically impaired people experience difficulties when maneuvering a powered wheelchair. In order to provide improved maneuvering, powered wheelchairs have been equipped with sensors, additional computing power and intelligence by various research groups. This paper presents a Bayesian approach to robotic assistance for wheelchair driving, which can be adapted to a specific user. The proposed framework is able to model and estimate even complex maneuvers, and explicitly takes the uncertainty on the user's intent into account. Besides during intent estimation, user-specific properties and uncertainty on the user's intent are incorporated when taking assistive actions, such that assistance is tailored to the user's driving skills. This decision making is modeled as a Partially Observable Markov Decision Process (POMDP). Benefits of this approach are shown using experimental results in simulation and on our wheelchair platform Sharioto. Keywords P...
Eric Demeester, Alexander Hüntemann, Dirk Van
Added 24 Jan 2011
Updated 24 Jan 2011
Type Journal
Year 2008
Where AROBOTS
Authors Eric Demeester, Alexander Hüntemann, Dirk Vanhooydonck, Gerolf Vanacker, Hendrik Van Brussel, Marnix Nuttin
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