This paper describes new results with a Reactive Shared-Control system that enables a semi-autonomous navigation of a wheelchair in unknown and dynamic environments. The purpose of the reactive shared controller is to assist wheelchair users providing an easier and safer navigation. It is designed as a fuzzy-logic controller and follows a behaviour-based architecture. The implemented behaviours...

This paper considers the problem of autonomous robot navigation in dynamic and congested environments. The predictive navigation paradigm is proposed where probabilistic planning is integrated with obstacle avoidance along with future motion prediction of humans and/or other obstacles. Predictive navigation is performed in a global manner with the use of a hierarchical Partially Observable Mark...

Obstacle avoidance is a fundamental requirement for autonomous robots which operate in, and interact with, the real world. When perception is limited to monocular vision avoiding collision becomes significantly more challenging due to the lack of 3D information. Conventional path planners for obstacle avoidance require tuning a number of parameters and do not have the ability to directly benefi...

The avoidance of static obstacles is relatively easy to implement as an animat behaviour, even where the animat receives realistic`sensory' input from the environment (e.g., simulated, infra-red proximity signals). 1,2,3] The behaviour can also be learned by a variety of methods. However, natural implementations of static-obstacle avoidance may break down if the objects in the environment have ...

A robotic intelligent wheelchair system based on obstacle avoidance and navigation functions Mohammed Alshraideh, Basel A. Mahafzah, Saleh Al-Sharaeh & Ziad M. Hawamdeh a Department of Computer Science, King Abdullah II School for Information Technology, The University of Jordan, Amman 11942, Jordan b Department of Special Surgery, Faculty of Medicine, The University of Jordan, Amman 11942, Jor...

The obstacle avoidance problem has been a well researched topic by many robotics researchers. We focus on one popular solution to this problem, the Curvature-Velocity Method(CVM). In Simmons’ original paper [5], differentially steered (DS) robots where not considered thoroughly. This paper presents a variation on CVM, specifically designed for DS robots. We show comparable results to that of Si...

Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementin...

Two major functions in navigation are path planning and obstacle avoidance. A path planner such as the wavefront propagation algorithm can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper reports the approach and results in implementing an autono...