| Presentation | 2015-08-24 Comfortable Autonomous Navigation Based on Collision Prediction in Blind Occluded Regions. Taishi Sawabe, Masayuki Kanbara, Norimichi Ukita, Tetsushi Ikeda, Yoichi Morales, Atsushi Watanabe, Kazuhiko Shinozawa, Norihiro Hagita, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | robotic wheelchair / visible-comfort index / stress / physiological measurement / velocity control |
| Paper # | ITS2015-9 |
| Date of Issue | 2015-08-17 (ITS) |
| Conference Information | |
| Committee | ITS / IPSJ-ITS / IEE-ITS |
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| Conference Date | 2015/8/24(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Wakkanai Hokusei Gakuen Univ. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Traffic Measument, etc. |
| Chair | Tomotaka Nagaosa(Kanto Gakuin Univ.) / Masashi Takahashi(三菱電機（株）) / Toshihiko Oda(VICS センター) |
| Vice Chair | Masahiro Fujii(Utsunomiya Univ.) / Tomotaka Wada(Kansai Univ.) |
| Secretary | Masahiro Fujii(AIST) / Tomotaka Wada(Utsunomiya Univ.) / ((（株）日立製作所 日立研究所) / (静岡大学) |
| Assistant | Kohei Ohno(Meiji Univ.) / Tetsuya Manabe(Saitama Univ.) / / Tomoaki Takahashi(日本大学) |
| Paper Information | |
| Registration To | Technical Committee on Intelligent Transport Systems Technology / Special Interest Group on Intelligent Transport Systems and Smart Community / Technical Meeting on Intelligent Transport Systems |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Comfortable Autonomous Navigation Based on Collision Prediction in Blind Occluded Regions. |
| Sub Title (in English) | |
| Keyword(1) | robotic wheelchair |
| Keyword(2) | visible-comfort index |
| Keyword(3) | stress |
| Keyword(4) | physiological measurement |
| Keyword(5) | velocity control |
| 1st Author's Name | Taishi Sawabe |
| 1st Author's Affiliation | Nara Institute of Science and Technology/Advanced Telecommunications Research Institute International(NAIST/ATR) |
| 2nd Author's Name | Masayuki Kanbara |
| 2nd Author's Affiliation | Nara Institute of Science and Technology/Advanced Telecommunications Research Institute International(NAIST/ATR) |
| 3rd Author's Name | Norimichi Ukita |
| 3rd Author's Affiliation | Nara Institute of Science and Technology/Advanced Telecommunications Research Institute International(NAIST/ATR) |
| 4th Author's Name | Tetsushi Ikeda |
| 4th Author's Affiliation | Advanced Telecommunications Research Institute International(ATR) |
| 5th Author's Name | Yoichi Morales |
| 5th Author's Affiliation | Advanced Telecommunications Research Institute International(ATR) |
| 6th Author's Name | Atsushi Watanabe |
| 6th Author's Affiliation | Advanced Telecommunications Research Institute International(ATR) |
| 7th Author's Name | Kazuhiko Shinozawa |
| 7th Author's Affiliation | Advanced Telecommunications Research Institute International/Osaka Kyoiku University(ATR/Osaka Kyoiku Uni) |
| 8th Author's Name | Norihiro Hagita |
| 8th Author's Affiliation | Nara Institute of Science and Technology/Advanced Telecommunications Research Institute International(NAIST/ATR) |
| Date | 2015-08-24 |
| Paper # | ITS2015-9 |
| Volume (vol) | vol.115 |
| Number (no) | ITS-187 |
| Page | pp.pp.67-72(ITS), |
| #Pages | 6 |
| Date of Issue | 2015-08-17 (ITS) |