NDLI: Autonomous Traveling Control of the "TAO Aicle" Intelligent Wheelchair

Content Provider	IEEE Xplore Digital Library
Author	Matsumoto, O. Komoriya, K. Hatase, T. Nishimura, H.
Copyright Year	2006
Description	Author affiliation: Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki (Matsumoto, O.; Komoriya, K.)
Abstract	This paper reports on the development of the "TAO Aide", an intelligent wheelchair with autonomous traveling capability. The wheelchair can accurately determine its position and direction using internal sensors and external assistance from the surrounding environment, including the Global Positioning System (GPS) and radio frequency identification (RFID). It can also detect obstacles it encounters on the road using a laser range sensor. To confirm the effectiveness of our research results, for six months at the Aichi Expo 2005 we demonstrated the wheelchair system by offering trial rides to visitors. This paper describes the total system of "TAO Aide", the positioning method using GPS and RFID, and the autonomous traveling control based on accurate estimations of position and direction using Kalman filtering. Our experimental results at the Aichi Expo demonstrated that accurate trajectory following performance can be achieved using assistance from the infrastructure (GPS, RFID) and that "TAO Aide" could perform safe autonomous traveling without severe accidents
Starting Page	4322
Ending Page	4327
File Size	6665328
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281966
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheelchairs Intelligent sensors Global Positioning System Radiofrequency identification Sensor systems Roads Control systems Kalman filters Filtering Accidents Trajectory Control Wheelchair Vehicle GPS RFID Localization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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