Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The motivation for this work lies in improving the performance of wheelchair guidance, even in the presence of noisy or ambiguous inputs from the user. The purpose of this paper is to implement the algorithmic procedures presented in two previous works that assess probabilistic decision-making in a real-time testing scenario by fusing spatial databases with temporal control inputs. Implementing this technique in addition to a cumulative weighted moving average allows for only minimal inputs to be provided within pre-defined decision-making regions. Consequently, a range of robotic applications can transition from fine to coarse control inputs, significantly reducing user/operator inputs while following their averaged path histories. A real-time demonstration of this technique is used in conjunction with a preview-based motion controller for path lock of a virtual wheelchair using actual joystick inputs.

Original languageEnglish (US)
Title of host publicationAdvanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859148
DOIs
StatePublished - Jan 1 2019
EventASME 2019 Dynamic Systems and Control Conference, DSCC 2019 - Park City, United States
Duration: Oct 8 2019Oct 11 2019

Publication series

NameASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Volume1

Conference

ConferenceASME 2019 Dynamic Systems and Control Conference, DSCC 2019
CountryUnited States
CityPark City
Period10/8/1910/11/19

Fingerprint

Wheelchairs
Fusion reactions
Decision making
Robotics
Demonstrations
Controllers
Testing

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

Wolkowicz, K. L., Leary, R. D., Moore, J. Z., & Brennan, S. N. (2019). Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs. In Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing [V001T05A009] (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; Vol. 1). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2019-9120
Wolkowicz, Kelilah L. ; Leary, Robert D. ; Moore, Jason Z. ; Brennan, Sean N. / Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs. Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME), 2019. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019).
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Wolkowicz, KL, Leary, RD, Moore, JZ & Brennan, SN 2019, Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs. in Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing., V001T05A009, ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, vol. 1, American Society of Mechanical Engineers (ASME), ASME 2019 Dynamic Systems and Control Conference, DSCC 2019, Park City, United States, 10/8/19. https://doi.org/10.1115/DSCC2019-9120

Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs. / Wolkowicz, Kelilah L.; Leary, Robert D.; Moore, Jason Z.; Brennan, Sean N.

Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME), 2019. V001T05A009 (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019; Vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Wolkowicz KL, Leary RD, Moore JZ, Brennan SN. Real-time path-based fusion of spatial databases with temporal control inputs for assistive operation of wheelchairs. In Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing. American Society of Mechanical Engineers (ASME). 2019. V001T05A009. (ASME 2019 Dynamic Systems and Control Conference, DSCC 2019). https://doi.org/10.1115/DSCC2019-9120