Abstract-We describe the development and assessment of a computer controlled wheelchair equipped with a suite of sensors and a novel interface, called the SMARTCHAIR. The main focus of this paper is a shared contml framework whicb allows the human operator to interact with the chair while it is performing an autonomous task. At the highest level, the autonomous system is able to plan paths using high level deliberative navigation behaviors depending on destinations or waypoints commanded by the user. The user is able to locally modify or override previously commanded autonomous behaviors or plans. This is possible beeause of our hierarchical control strategy that combines t h m independent sources of control inputs: deliberative plans obtained fmm maps and nser commands, reactive behaviors generated by stimuli from the envimnment, and user-initiated commands that might arise during the execution of a plan or bebanor. The framework we describe ensures the user's safety while allowing the user to be in complete control of a potentially autonomous system.
More recently, the SmartChair REF uses a virtual interface displayed by an on-board projection system to implement a shared control framework that enables the user to interact with the wheelchair while it is performing an autonomous task.
Incorporating user inputs in motion planning for a smart wheelchair
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Engineering Computer Science