Paper Abstract and Keywords |
Presentation |
2015-08-24 16:50
Comfortable Autonomous Navigation Based on Collision Prediction in Blind Occluded Regions. Taishi Sawabe, Masayuki Kanbara, Norimichi Ukita (NAIST/ATR), Tetsushi Ikeda, Yoichi Morales, Atsushi Watanabe (ATR), Kazuhiko Shinozawa (ATR/Osaka Kyoiku Uni), Norihiro Hagita (NAIST/ATR) ITS2015-9 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
This paper presents an approach for human passenger stress reduction while riding a personal mobility autonomous vehicle.The particular vehicle of interest is a robotic autonomous wheelchair which can provide mobility assistance in pedestrian paths. State of the art algorithms for autonomous vehicles mainly focus on collision free path planning and safe control for obstacle avoidance.This work studies comfort factors of the passenger while riding the vehicle.We propose a method for velocity control of the robotic wheelchair based on the concept of “visible-comfort index” to reduce stress from the collision prediction in blind regions. Visible-comfort index is defined as the visible collision area against dynamic obstacles which is free from collision. By using this index, the velocity of the robotic wheelchair is computed.Experimental results based on physiological measurements (heart rate and galvanic skin response) show that the control of the robotic wheelchair using the visible-comfort index decreases stressful situations for passengers. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
robotic wheelchair / visible-comfort index / stress / physiological measurement / velocity control / / / |
Reference Info. |
IEICE Tech. Rep., vol. 115, no. 187, ITS2015-9, pp. 67-72, Aug. 2015. |
Paper # |
ITS2015-9 |
Date of Issue |
2015-08-17 (ITS) |
ISSN |
Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 |
Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) |
Download PDF |
ITS2015-9 |