Experimental Setup for Human Aware Navigation

Validation of algorithms developed by assistance robotics research on real platforms is essential. Producing robotic architectures that promote scientific advances while regarding usability for the final user is a challenging issue where an appropriate trade-off between both requirements must be found. This paper proposes a new framework for the development of mobility assistance techniques to improve the quality of life of elder population using a robotic wheelchair. An example of improvement of the wheelchair navigation is presented. The control of the wheelchair is done using a Bayesian semi-autonomous approach that estimates the user intended destination from input commands given through a Kinect sensor. Safe and comfortable autonomous navigation is performed using a probabilistic navigation method that takes into account the dynamics of the environment and human social conventions.