CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs
نویسندگان
چکیده
In this paper we introduce CoPilot, an active driving aid that enables semiautonomous, cooperative navigation of an electric powered wheelchair (EPW) for automated doorway detection and traversal. The system has been cleanly integrated into a commercially available EPW, and demonstrated with both joystick and head array interfaces. Leveraging the latest in 3D perception systems, we developed both feature and histogram-based approaches to the doorway detection problem. When coupled with a sample-based planner, success rates for automated doorway traversal approaching 100% were achieved.
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تاریخ انتشار 2015