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

  • Zhixuan Wei
  • Weidong Chen
  • Jingchuan Wang
  • Huiyu Wang
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


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.


Smart wheelchair Semantic map Topological map Low throughput interface 



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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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Zhixuan Wei
    • 1
    • 2
  • Weidong Chen
    • 1
    • 2
  • Jingchuan Wang
    • 1
    • 2
  • Huiyu Wang
    • 1
    • 2
  1. 1.Department of AutomationShanghai Jiao Tong University and Key Laboratory of System Control and Information Processing, Ministry of Education of ChinaShanghaiChina
  2. 2.State Key Laboratory of Robotics and System (HIT)HarbinChina

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