Stable Autonomous Robotic Wheelchair Navigation in the Environment with Slope Way

Wang, C. and Xia, M. and Meng, M.Q.-H. (2020) Stable Autonomous Robotic Wheelchair Navigation in the Environment with Slope Way. IEEE Transactions on Vehicular Technology, 69 (10). pp. 10759-10771. ISSN 0018-9545

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Abstract

In this article, we present a path planning approach that is capable of generating a feasible trajectory for stable robotic wheelchair navigation in the environment with slope way. Firstly, the environment is modeled by a lightweight navigation map, with which the proposed sampling-based path planning scheme with a modified extension function can generate a feasible path. Then, the path is further optimized by the proposed utility function involving the human comfort and the path cost. To improve the searching efficiency of an optimal trajectory, we present an adaptive weighting Gaussian Mixture Model (GMM) based sampling strategy. Particularly, the weights of the components in GMM are adjusted adaptively in the planning process. It is also worth noting that the proposed sampling-based planning paradigm can indicate the unsafe regions in the navigation map, which forms a traversable map and further guarantees the safety of the wheelchair robot navigation. Furthermore, the effectiveness and the efficiency of the proposed path planning method are verified in both simulation and real-world experiments. © 1967-2012 IEEE.

Item Type:
Journal Article
Journal or Publication Title:
IEEE Transactions on Vehicular Technology
Additional Information:
©2020 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/2200/2202
Subjects:
ID Code:
149665
Deposited By:
Deposited On:
07 Dec 2020 09:45
Refereed?:
Yes
Published?:
Published
Last Modified:
16 Jun 2021 08:43