A Multi-modal Utility to Assist Powered Mobility Device Navigation Tasks

  • James Poon
  • Jaime Valls Miro
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8755)


This paper presents the development of a shared control system for power mobility device users of varying capability in order to reduce carer oversight in navigation. Weighting of a user’s joystick input against a short-tem trajectory prediction and obstacle avoidance algorithm is conducted by taking into consideration proximity to obstacles and smoothness of user driving, resulting in capable users rewarded greater levels of manual control for undertaking maneuvres that can be considered more challenging. An additional optional comparison with a Vector Field Histogram applied to leader-tracking provides further activities, such as completely autonomous following and a task for the user to follow a leading entity. Indoor tests carried out on university campus demonstrate the viability of this work, with future trials at a care home for the disabled intended to show the system functioning in one of its intended settings.


Shared control co-autonomy wheelchair 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • James Poon
    • 1
  • Jaime Valls Miro
    • 1
  1. 1.University of Technology SydneyAustralia

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