Abstract
In this paper we introduce CoPilot, an active driving aid that enables semi-autonomous, cooperative navigation of an electric powered wheelchair (EPW) for automated doorway detection and traversal. The system has been cleanly integrated into a commercially available EPW, and demonstrated with both joystick and head array interfaces. Leveraging the latest in 3D perception systems, we developed both feature and histogram-based approaches to the doorway detection problem. When coupled with a sample-based planner, success rates for automated doorway traversal approaching 100 % were achieved.
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Panzarella, T., Schwesinger, D., Spletzer, J. (2016). CoPilot: Autonomous Doorway Detection and Traversal for Electric Powered Wheelchairs. In: Wettergreen, D., Barfoot, T. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 113. Springer, Cham. https://doi.org/10.1007/978-3-319-27702-8_16
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DOI: https://doi.org/10.1007/978-3-319-27702-8_16
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