NDLI: An embedded robotic wheelchair control architecture with reactive navigations

Content Provider	IEEE Xplore Digital Library
Author	Chung-Hsien Kuo Yao-Sheng Syu Tsung-Chin Tsai Ting-Shuo Chen
Copyright Year	2011
Description	Author affiliation: National Institute of Standards and Technology, Boulder, CO 80305 USA (Chung-Hsien Kuo) \|\| Electrical Engineering Department, University of Colorado, Boulder, 80309 USA (Tsung-Chin Tsai) \|\| Department of Physics, Colorado State University, Fort Collins, 80523 USA (Yao-Sheng Syu)
Abstract	In this paper, we propose a robotic wheelchair control architecture for reactive navigations to improve safety. The proposed solution is developed based on the XScale embedded platform and real-time embedded Linux. A touch panel is used to display useful information for users. In addition, reactive navigation techniques of mobile robots are developed by combining the obstacle detection sensor information to perform collision free navigations where the obstacle detection sensor uses a laser range finder and the reactive navigation uses the artificial field potential (APF) approach. The collections of obstacle information and realizations of APF navigations are implemented as device drivers in the kernel space to improve real time performance, as well as to reduce the computational loads of graphical user interface (GUI) in the user space. In addition, the modules of power monitoring, travel distance counter and drive speed counting are also developed as device drivers. Consequently, the proposed robotic wheelchair control architecture has the features of real-time performance, simple architecture, high reliability, and safety. Meanwhile, the device drivers and GUI are all developed as open source codes, and they are easy for integrations. Finally, a robotic wheelchair prototype is produced in our laboratory for experimental validations of the embedded robotic wheelchair control architecture, as well as for the evaluations of reactive navigations.
Starting Page	810
Ending Page	815
File Size	609782
Page Count	6
File Format	PDF
ISBN	9781457717307
ISSN	21618089
e-ISBN	9781457717321
e-ISBN	9781457717314
DOI	10.1109/CASE.2011.6042445
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-24
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheelchairs Navigation Mobile robots Robot kinematics Robot sensing systems Wheels artificial field potential (APF) Robotic wheelchairs reactive navigations embedded control systems
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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