TRACKING A WHEELCHAIR WITH A MOBILE PLATFORM

B. Allart, B. Marhic, L. Delahoche, A. Clérentin, O. Rémy-Néris

2007

Abstract

This article deals with a target tracking application for the disabled. The objective of this work is to track a wheelchair with a mobile platform and an embedded grasping arm (MANUS). We propose an approach based on an association of two Kalman filtering levels. The first level permits an estimation of the wheelchair configuration. The second is used to compute the mobile platform configuration in connection with its environment. The association of the two filtering process allows a robust tracking between two objects in movement.

References

  1. Z. L. Cao, S. J. Oh, Ernest L. Hall. Omnidirectional dynamic vision positioning for a mobile robot” Journal of Robotic System, 3(1), 1986, pp5-17.
  2. C. Cauchois, E. Brassart, L. Delahoche, T. Delhommelle. “Reconstruction with the calibrated SYCLOP sensor” in Proc, Int. Conf. on Intelligent Robots and Systems, Kagawa University, Takamatsu, Japan , pp. 1493- 1498, October- November 2000.
  3. E. Colle, Y. Rybarczyk, P. Hoppenot. “ARPH: An assistant robot for disabled person” in Proc. IEEE International Conference on Systems, Man and Cybernetics, Hammamet, Tunisia, October 6-9, 2002.
  4. H. Ishiguro, S. Tsuji “Applying Panoramic Sensing to Autonomous Map Making a Mobile Robot” in Proc, Int. Conf. on Advanced Robotics, pp127-132, November 1993.
  5. H. Ishiguro, S. Tsuji “Image-based memory of environment” in Proc, Int. Conf. on Intelligent Robots and Systems, pp634-639, Osaka, Japan, November 1996.
  6. El. M. Mouaddib, B. Marhic, “Geometrical Matching for Mobile Robot Localisation”. IEEE Trans. Robotics and Automation, vol. 16, n°5, pp 542-552, October 2000.
  7. B. Marhic, L. Delahoche ,F. de Chaumont, and O. RemyNéris, “Robotised Assistance for Persons of Reduced Mobility: résumé of a project”, ICOST'2006, Ireland.
  8. Y. BAR SHALOM et T.E. FORTMANN, "Tracking and data association", Academic Press, 1988.
  9. Bar-Shalom Y, Xiao-Rong Li, Multitarget-Multisensor Tracking: Principles and techniques, 1995.
Download


Paper Citation


in Harvard Style

Allart B., Marhic B., Delahoche L., Clérentin A. and Rémy-Néris O. (2007). TRACKING A WHEELCHAIR WITH A MOBILE PLATFORM . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-972-8865-82-5, pages 306-311. DOI: 10.5220/0001626403060311


in Bibtex Style

@conference{icinco07,
author={B. Allart and B. Marhic and L. Delahoche and A. Clérentin and O. Rémy-Néris},
title={TRACKING A WHEELCHAIR WITH A MOBILE PLATFORM},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2007},
pages={306-311},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001626403060311},
isbn={978-972-8865-82-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - TRACKING A WHEELCHAIR WITH A MOBILE PLATFORM
SN - 978-972-8865-82-5
AU - Allart B.
AU - Marhic B.
AU - Delahoche L.
AU - Clérentin A.
AU - Rémy-Néris O.
PY - 2007
SP - 306
EP - 311
DO - 10.5220/0001626403060311