論文

査読有り
2013年

Human-Comfortable Navigation for an Autonomous Robotic Wheelchair

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
  • Yoichi Morales
  • ,
  • Nagasrikanth Kallakuri
  • ,
  • Kazuhiro Shinozawa
  • ,
  • Takahiro Miyashita
  • ,
  • Norihiro Hagita

開始ページ
2737
終了ページ
2743
記述言語
英語
掲載種別
研究論文(国際会議プロシーディングス)
DOI
10.1109/IROS.2013.6696743
出版者・発行元
IEEE

Reliable autonomous navigation is an active research topic that has drawn the attention for decades, however, human factors such as navigational comfort has not received the same level of attention. This work proposes the concept of "comfortable map" and presents a navigation approach for autonomous passenger vehicles which in top of being safe and reliable is comfortable. In our approach we first extract information from users preference related to comfort while sitting on a robotic wheelchair under different conditions in an indoor corridor environment. Human-comfort factors are integrated to a geometric map generated by SLAM framework. Then a global planner computes a safe and comfortable path which is followed by the robotic wheelchair. Finally, an evaluation with 29 participants using a fully autonomous robotic wheelchair, showed that more than 90% of them found the proposed approach more comfortable than a shortest-path state of the art approach.

Web of Science ® 被引用回数 : 31

リンク情報
DOI
https://doi.org/10.1109/IROS.2013.6696743
Web of Science
https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000331367402130&DestApp=WOS_CPL
URL
http://dblp.uni-trier.de/db/conf/iros/iros2013.html#conf/iros/MoralesKSMH13