知的車椅子のための歩行者の顔の観察に基づく衝突回避  [in Japanese] Collision Avoidance by Observing Pedestrians' Faces for Intelligent Wheelchairs  [in Japanese]

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Author(s)

Abstract

With the increase in the number of senior citizens, there is a growing demand for human-friendly wheelchairs as mobility aids. One of the main issues in the robotic wheelchair research is autonomous obstacle avoidance for safety. However, this is difficult because most of moving obstacles in the real world are human beings. They sometimes change their motion abruptly. This paper presents an intelligent wheelchair that can avoid collision with such human pedestrians safely and comfortably for each other. We assume that the information whether or not a pedestrian has noticed the wheelchair and which direction he/she wants to go can appear in the face direction. Thus our intelligent wheelchair is continuously observing the pedestrian's face in its front area, realizing smooth passing by changing its collision avoidance strategy based on the face information and the range data from the ultrasonic sensors. Experimental results show the effectiveness and comfortableness of the proposed method.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(2), 84-91, 2002-03-15

    The Robotics Society of Japan

References:  11

Cited by:  6

Codes

  • NII Article ID (NAID)
    10008213132
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    6107788
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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