A rule-based assistive control algorithm for safe navigation for a powered wheelchair.
2020
This paper addresses the problem of safe navigation in an environment with randomly placed static obstacles.
We convert a commercial powered wheelchair into a semiautonomous vehicle with limited sight (environment awareness),
by instrumenting it using off-the-shelf ultrasonic sensors and
associated electronic boards (Arduino). In the continuity of
our previous work where we had used stochastic dynamic
programming to formulate optimization problems which led
to relatively large size look-up tables that can be used as
supervisory control, here we propose to extract rules using those
results (that data). The advantage of this approach is a lowcomputational cost for future online implementation, and the
drawback is a suboptimal policy. The feasibility is assessed by
running simulations in a fairly realistic environment (Unity3D).
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