MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM

Rodrigo A. M. Braga, Marcelo Petry, Eugenio Oliveira, Luis Paulo Reis

Abstract

The development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. The experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

References

  1. Barr, A. Cohen, P. Feigenbaum, E., 1986. Handbook of Artificial Intelligence. Addison Wesley. Vol. 1.
  2. Bonet, B. and Geffner, H., 2001. Heuristic search planner 2.0. The AI Magazine, 22(1), pp.77-80.
  3. Borenstein, J., Koren, Y., 1991. The Vector Field Histogram - Fast Obstacle Avoidance for Mobile Robots, IEEE Journal of Robotic and Automation, v. 7, n. 3, pp. 278-288.
  4. Brooks, R. A., 1991. Intelligence Without Reason. Proc. 12th Int. Joint Conference on Artificial Intelligence - IJCAI-91, Sydney, Australia. pp.569-595.
  5. Faria, P. M., Braga, R A. M., Valgôde, E., Reis L. P., 2007a. Platform to Drive an IW using Facial Expressions. Proc. 9th Int. Conf. on Enterprise Information Systems, HCI, ICEIS'2007. pp.164-169. Funchal, Portugal. June 12-16.
  6. Faria, P. M., Braga, R. A. M., Valgôde, E., Reis, L. P., 2007b. Interface Framework to Drive an Intelligent Wheelchair Using Facial Expressions. IEEE Int. Symp. on Industrial Electronics, pp. 1791-1796, June 4-7.
  7. Ferber, J.; Gasser, L., 1991. Intelligence artificielle distribuée. In: Int. WorkShop on Expert Systems & Their Applications, 10., Avignon. Cours n. 9. France.
  8. Fikes, R., Nilsson, N. J., 1971. STRIPS: A New Approach to the Application of Theorem Proving to Problem Solving. IJCAI 1971. pp.608-620.
  9. Hart, P. E., Nilsson, N. J. and Bertram R., 1968, A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems Science and Cybernetics, 4(2):pp.100-107.
  10. Jia, P. and Hu, H., 2005. Head Gesture based Control of an Intelligent Wheelchair. CACSUK-11th Ann. Conf. Chinese Aut. Comp. Society in the UK, Sheffield, UK.
  11. Lau, N., Pereira, A., Melo, A., Neves, A. and Figueiredo, J., 2002. Ciber-Rato: Um Ambiente de Simulação de Robots Móveis e Autónomos. Rev. DETUA, Vol. 3, Nr. 7, pp.647-650, Sept.
  12. Luo, R. C., Chen, T. M. and Lin, M. H., 1999. Automatic Guided IW System Using Hierarchical Grey-Fuzzy Motion Decision-Making Algorithms, Proc. IEEVRSJ 1999 Int. Conf. on Intelligent Robots and Systems.
  13. Russell, S. and Norvig, P., 2002. Artificial Intelligence: A Modern Approach. Prentice Hall, E.Cliffs, NJ, 2nd ed.
  14. Shapiro S.C., 2000. Encyclopedia of Artificial Intelligence. Wiley-Interscience. May.
  15. Thrun, S. and Bücken, A., 1996. Integrating Grid-Based and Topological Maps for Mobile Robot Navigation, In: Proc. 13th National Conference on Artificial Intelligence AAAI, Portland, Oregon, pp.944-950.
  16. Weld, D. S., 1999. Recent advances in AI planning. AI Magazine, pp.93-123
Download


Paper Citation


in Harvard Style

A. M. Braga R., Petry M., Oliveira E. and Paulo Reis L. (2008). MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 179-182. DOI: 10.5220/0001498801790182


in Bibtex Style

@conference{icinco08,
author={Rodrigo A. M. Braga and Marcelo Petry and Eugenio Oliveira and Luis Paulo Reis},
title={MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={179-182},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001498801790182},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MULTI-LEVEL CONTROL OF AN INTELLIGENT WHEELCHAIR IN A HOSPITAL ENVIRONMENT USING A CYBER-MOUSE SIMULATION SYSTEM
SN - 978-989-8111-31-9
AU - A. M. Braga R.
AU - Petry M.
AU - Oliveira E.
AU - Paulo Reis L.
PY - 2008
SP - 179
EP - 182
DO - 10.5220/0001498801790182