Self-localization in Large-Scale Environments for the Bremen Autonomous Wheelchair

Lankenau, Axel; Röfer, Thomas; Krieg-Brückner, Bernd

doi:10.1007/3-540-45004-1_3

Cited by 15 publications

(12 citation statements)

References 22 publications

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“…With its ability to localize along large-scale road networks by evaluating data coming from odometry, compass, and barometer, it compares best to the work proposed by Lankenau et al [5]. The authors present an algorithm that is capable of estimating the system's pose along a given graph-structured representation of the environment.…”

Section: Related Workmentioning

confidence: 93%

Particle filter-based position estimation in road networks using digital elevation models

Mandel

Laue

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Nowadays, the Global Positioning System (GPS) can be considered as being the de-facto standard for localization in road networks, delivering a reasonable precision at most places and being available through a huge variety of devices. Nevertheless, if signal reception is disturbed, no position estimates can be computed anymore. In this paper, we present an approach for localization in road networks which is based on a particle filter computing estimates using only basic environmental information: the road network's structure and its height profile. The approach is demonstrated in experiments of an electrical wheelchair driving through a small town.

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Section: Related Workmentioning

confidence: 93%

Particle filter-based position estimation in road networks using digital elevation models

Mandel

Laue

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…These components are mounted on a steelframe backbone. Although BARTHOC is a non-mobile humanoid robot, it could achieve mobility, e.g., by using a wheelchair [8]. However, the immobile design is sufficient for the suggested fields of application.…”

Section: Barthoc's Anatomymentioning

confidence: 98%

Designing a sociable humanoid robot for interdisciplinary research

Hackel¹,

Schwope²,

Fritsch³

et al. 2006

Advanced Robotics

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This paper presents the humanoid robot BARTHOC and the smaller, but system-equal twin, BARTHOC Junior. Both robots have been developed to study human-robot interaction. The main focus of BARTHOC's design was to realize the expression and behavior of the robot to be as human-like as possible. This allows us to apply the platform to manifold research and demonstration areas. With its human-like look and mimic possibilities it differs from other platforms like ASIMO or QRIO and enables experiments even close to Mori's 'uncanny valley'. The paper describes details of the mechanical and electrical design of BARTHOC together with its PC control interface and an overview of the interaction architecture. Its humanoid appearance allows limited imitation of human behavior. The basic interaction software running on BARTHOC has been completely ported from a mobile robot except for some functionalities that could not be used due to hardware differences such as the lack of mobility. Based on these components, the robot's human-like appearance will enable us to study embodied interaction and to explore theories of human intelligence.

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“…The TAO and TinMan series have been sold to other institutions such as the MIT AI Lab (Wheelesley) and the University of Rochester as prototypes for intelligent wheelchair development [12]. Rolland (the Bremen Autonomous Wheelchair) assists the user in obstacle avoidance and door navigation [4]. MAid (Mobility Aid for Elderly and Disabled People) was experimented with in crowded environments (e.g., a railway station) and successfully navigated in heavy passenger traffic [8].…”

Section: Figure 1 Customized Er1mentioning

confidence: 99%

A mobile robot for corridor navigation

Ono

Uchiyama

Potter

2004

Proceedings of the 42nd Annual Southeast Regional Conference

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This project focuses on building an autonomous vehicle as the test bed for the future development of an intelligent wheelchair, by proposing a framework for designing and implementing a mobile robot control program that is easily expandable and portable to other robotic platforms. Using a robot equipped with a minimal set of sensors such as a camera and infrared sensors, our multiagent based control system is built to tackle various problems encountered during corridor navigation. The control system consists of four agents: an agent responsible for handling sensor inputs, an agent which identifies a corridor using machine vision techniques, an agent which avoids collisions by applying fuzzy logic decision making to proximity data, and an agent responsible for locomotion. In the experiments, the robot's performance demonstrates the feasibility of a multi-agent approach.

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Self-localization in Large-Scale Environments for the Bremen Autonomous Wheelchair

Cited by 15 publications

References 22 publications

Particle filter-based position estimation in road networks using digital elevation models

Particle filter-based position estimation in road networks using digital elevation models

Designing a sociable humanoid robot for interdisciplinary research

A mobile robot for corridor navigation

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