Abstract
This paper presents a simple approach for the acquisition and representation of spatial knowledge needed for controlling a semi-autonomous wheelchair. Simplicity is required in the domain of rehabilitation robotics because typical users of assistive technology are persons with severe impairments who are not technical experts. The approach is a combination of carrying out so-called basic behaviors and the analysis of the wheelchair’s track of motion when performing these behaviors. As a result, autonomous navigation in the user’s apartment or place of work can be learned by the wheelchair by teaching single routes between potential target locations.
This paper focuses on the analysis of the motion tracks recorded by the vehicle’s dead reckoning system. As a means for unveiling the structure of the environment while the system is moving, an incremental generalization is applied to the motion tracks. In addition, it is discussed how two of such generalized motion tracks are match to perform a one-dimensional self-localization along the route that is followed.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Burgard, W. Fox, D. and Henning, D. (1997), Fast grid-based position tracking for mobile robots. In G. Brewka, C. Habel, and B. Nebel, editors, KI-97: Advances in Artificial intelligence, Lecture Notes in Artificial Intelligence, 289–300, Berlin, Heidelberg, New york. Springer.
Franz, M.O., Schölkopf, B., Georg, P., Mallot, H. A., and Bülthoff, H. H. (1997), Learning view graphs for robot navigation. In W. L. Johnson, editor, Proc. 1st Int. Conf. on Autonomous Agents, 138–147, New York ACM Press.
Gutmann, J.-S. and Nebel, B. (1997), Navigation mobiler Roboter mit Lasercans. In P. Levi, T. Bräunl, and N. Oswald, editors, (deAutonome Mobile Systeme), Informatik aktuell, 36–47, Berlin, Heidelberg, New York. Springer.
Hoyer, H., Hoelper, R., and Pabst, U. (1994), Benutzerspezifische Wegplanung für omnidirektionale und kinematisch beschränkte Rollstühle). In P. Levi and T. Bräunl, editors, Autonome Mobile Systeme), Informatik aktuell, 274–284, Berlin, Heidelberg, New York. Springer.
Jörg, K.-W., v. Puttkamer, E., and Richstein, H,-J. (1993), Integration und Fusion Heterogener Multisorinformation zur geometrischen Weltmodellierung fü einen Autonomen Mobilen Roboter). In G. Schmidt, editor, Autonome Mobile Systeme), 287–298, Technische Universitôt München.
Kollmann, J., Lankenau, A., Bühlmeier, A., Krieg-Brückner, B., and Röfer, T. (1997), Navigation of a kinematically restricted wheelchair by the parti-game algorithm. In Spatial Reasoning in Mobile Robots and Animals, 35–44, Manchester University. AISB-97 Workshop.
Krieg-Brückner, B., Röfer, T., Carmesin, H.-O., and Müller, R. (1998), A taxonomy of spatial knowledge and its application to the Bremen Autonomous Wheelchair. In C. Freksa, C. Habel, and K.F. Wender, editors, Spatial Cognition, volume 1404 of Lecture Notes in Artificial Intelligence, 373–397, Berlin, Heidelberg, New york. Springer.
Lankenau, A. and Meyer, O. (1997), Der autonome Rollstuhl als sicheres eingebettetes System). Master’s thesis, Universität Bremen.
Lankenau, A. Meyer, O., and Krieg-Brückner, B. (1998), Safety in robotics: The Bremen Autonomous Wheelchair. In Proceedings of AMC’98, 5th Int. Workshop on Advance Motion Control, 524–529, Coimbra, Portugal.
Mojaev, A. and Zell, A. (1998), Online-Positionskorrektur für mobile Roboter durch Korrelation lokaler Gitterkarten). In H. Wörn, R. Dillman, and D. Henrich, editors, Autonome Mobile Systeme), Informatik aktuell, 93–99, Berlin, Heidelberg, New York. Springer.
Musto, A., Stein, K., Eisenkolb, A., and Röfer, T. (1999), Qualitative and quantitative representations of locomotion and their application in robot navigation. In Proc. Int. Joint Conf. On Artificial Intelligence. to appear. Already available as Forschungsbericht Künstliche Intelligenz, FKI-228-99, Technische Universitôt München.
Owen, C. and Nehmzow, U. (1997), Middle scale navigation-a case study. In Spatial Reasoning in Mobile and Animals, 104–112, Manchester University. AISB-97 Workshop.
Röfer, T. and Lankenau, A. (1998), Architecture and applications of the Bremen Autonomous Wheelchair. In P. P. Wang, editor, Proc. of the Fourth Joint Conference on Information Systems, volume 1, 365–368. Association for intelligent Machinery.
Röfer, T. and Müller, R. (1998), Navigation and routemark detections of the Bremen Autonomous Wheelchair. In T. Lüth, R. Dillmann, P. Dario, and H. Wörn, editors, Distributed Autonomous Robotics Systems, 183–192, Berlin, Heidelberg, New York. Springer.
Röfer, T. (1998), Routenbeschreibung durch Odometrie-Scans). In H. Wörn, R. Dillmann, D. Heinrich, editors, Autonome Mobile Systeme 1998, Informatik aktuell, 122–129, Berlin, Heidelberg, New York. Springer.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1999 springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Röfer, T. (1999). Route Navigation Using Motion Analysis. In: Freksa, C., Mark, D.M. (eds) Spatial Information Theory. Cognitive and Computational Foundations of Geographic Information Science. COSIT 1999. Lecture Notes in Computer Science, vol 1661. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48384-5_2
Download citation
DOI: https://doi.org/10.1007/3-540-48384-5_2
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66365-2
Online ISBN: 978-3-540-48384-7
eBook Packages: Springer Book Archive