Velocity Control of Autonomous Powered Wheelchair Based on Interaction Prediction of Surrounding Pedestrian

Abstract

Although electric-powered mobility devices with autonomous locomotion functions are considered helpful in assisting the elderly with decreased abilities to go on outings, technologies for safe locomotion in an outdoor environment with pedestrians have not yet been researched sufficiently. This research focuses on the autonomous locomotion on sidewalks where pedestrians coexist. An interactive locomotion strategy involving velocity control is also discussed. Taking into consideration the characteristics of sidewalks, a velocity control method that considers the interaction prediction of surrounding pedestrians was proposed and implemented into our prototype intelligent powered wheelchair. Through an experiment on a sidewalk test course, the operations of the proposed system were verified.

Interactive Collision Avoidance Based on Surrounding Mobility Type for an Intelligent Powered Wheelchair

“…In addition, our past research [7] developed a predictive strategy for the long-range interaction. Therefore, this research aimed to develop interactive strategies of collision avoidance for the middle-range.…”

“…Of these three interaction strategies, strategies of collision avoidance for the short-range interaction has been discussed enough by existing researches. In addition, our past research [7] developed a predictive strategy for the long-range interaction. Therefore, this research aimed to develop interactive strategies of collision avoidance for the middle-range.…”