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Semantic Topological Map-Based Smart Wheelchair Navigation System for Low Throughput Interface

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

This paper presents a new navigation system designed for the smart wheelchair, which interacts with a human user using a low throughput interface. Through the low throughput interface, the user can only give a very limited number of command types with a low frequency, meaning that a low throughput interface requests the user to do more steps, taking a longer time, just to select the desired goal. In order to decrease the number of operations requested to the user, our navigation system is designed to refine the alternative targets by selecting the significant targets and organize them in a binary tree for reducing user’s operation. We also introduce a user-friendly visual feedback to display to the user in order to show the current state and the prompt commands to the user, too. This navigation system is successfully tested in a real environment.

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Acknowledgments

This work is partly supported by the National High Technology Research and Development Program of China under grant 2012AA041403, the Natural Science Foundation of China under grant 60934006 and 61175088.

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China

    Zhixuan Wei, Weidong Chen, Jingchuan Wang & Huiyu Wang

  2. State Key Laboratory of Robotics and System (HIT), Harbin, 150001, China

    Zhixuan Wei, Weidong Chen, Jingchuan Wang & Huiyu Wang

Authors
  1. Zhixuan Wei
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  2. Weidong Chen
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  3. Jingchuan Wang
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  4. Huiyu Wang
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Corresponding author

Correspondence to Weidong Chen .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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Wei, Z., Chen, W., Wang, J., Wang, H. (2016). Semantic Topological Map-Based Smart Wheelchair Navigation System for Low Throughput Interface. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_9

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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