Kinect Based Intelligent Wheelchair Navigation with Potential Fields

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Ozcelikors M., Coskun A., Say M. G., YAZICI A., Yayan U., Akcakoca M.

IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA), Alberobello, Italy, 23 - 25 June 2014, pp.330-337 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/inista.2014.6873640
  • City: Alberobello
  • Country: Italy
  • Page Numbers: pp.330-337
  • Eskisehir Osmangazi University Affiliated: Yes

Abstract

Increasing elderly people population and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important role on improving the lives and mobilization of people with disabilities. Moreover, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, Finite state machine (FSM) based high-level controller and Kinect based navigation algorithm have been developed for ATEKS (Intelligent Wheelchair) which has high-tech control mechanisms, low-cost sensors and open source software (ROS, GAZEBO, ANDROID).