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

2008

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.

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