NDLI: Comfortable autonomous navigation based on collision prediction in blind occluded regions

Content Provider	IEEE Xplore Digital Library
Author	Sawabe, T. Kanbara, M. Ukita, N. Ikeda, T. Morales Saiki, L.Y. Watanabe, A. Hagita, N.
Copyright Year	2015
Description	Author affiliation: Ambient Intelligence Lab, Nara Institute of Science and Technology, Japan; Intelligent Robotics and Communication Laboratories, Advanced Telecommunications Research Institute International, Japan (Sawabe, T.; Kanbara, M.; Ukita, N.; Hagita, N.) \|\| Intelligent Robotics and Communication Laboratories, Advanced Telecommunications Research Institute International, Japan. (Ikeda, T.; Morales Saiki, L.Y.; Watanabe, A.)
Abstract	This paper presents an approach for human passenger stress reduction while riding a personal mobility autonomous vehicle. The particular vehicle of interest is a robotic autonomous wheelchair which can provide mobility assistance in pedestrian paths. State of the art algorithms for autonomous vehicles mainly focus on collision free path planning and safe control for obstacle avoidance. This work studies comfort factors of the passenger while riding the vehicle. We propose a method for velocity control of the robotic wheelchair based on the concept of “behavior dependent observability” to reduce stress from the collision prediction in blind regions. Behavior dependent observability (BDO) is defined as the visible collision area against dynamic obstacles which is free from collision. By using BDO, the velocity of the robotic wheelchair is computed so that passengers feel comfortable. Experimental results based on physiological measurements (heart rate and galvanic skin response) show that the control of the robotic wheelchair using the behavior dependent observability decreases stressful situations for passengers.
Starting Page	75
Ending Page	80
File Size	3049034
Page Count	6
File Format	PDF
e-ISBN	9781467391146
DOI	10.1109/ICVES.2015.7396897
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-05
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wheelchairs Mobile robots Collision avoidance Stress Vehicles Stress measurement
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
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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