NDLI: Assisted Navigation for Persons with Reduced Mobility: Path Recognition Through Particle Filtering (Condensation Algorithm)

Content Provider	Springer Nature Link
Author	Grasse, Régis Morère, Yann Pruski, Alain
Copyright Year	2010
Abstract	In the few past decades, several international researchers have worked to develop intelligent wheelchairs for the people with reduced mobility. For many of these projects, the structured set of commands is based on a sensor-based command. Many types of commands are available but the final decision is to be made by the user. A former work established a behaviour-based multi-agent form of control ensuring that the user selects the best option for him/her in relation to his/her preferences or requirements. This type of command aims at “merging” this user and his/her machine—a kind of symbiotic relationship making the machine more amenable and the command more effective. In this contribution, the approach is based on a curve matching procedure to provide comprehensive assistance to the user. This new agent, using a modelization of the paths that are most frequently used, assists the user during navigation by proposing the direction to be taken when the path has been recognized. This approach will spare the user the effort of determining a new direction—which might be a major benefit in the case of severe disabilities. The approach considered uses particle filtering to implement the recognition of the most frequent paths according to a topological map of the environment.
Starting Page	19
Ending Page	57
Page Count	39
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	60
Issue Number	1
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-03-19
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Assistance to navigation Particle filtering Condensation algorithm Course modelling Recognition Smart wheelchair Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering Control , Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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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
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