TY - GEN
T1 - Autonomous traveling control of the "TAO aicle" intelligent wheelchair
AU - Matsumoto, Osamu
AU - Komoriya, Kiyoshi
AU - Hatase, Tsutomu
AU - Nishimura, Hideki
AU - Toda, Koji
AU - Goto, Shigeki
PY - 2006
Y1 - 2006
N2 - This paper reports on the development of the "TAO Aide", an intelligent wheelchair with autonomous traveling capability. The wheelchair can accurately determine its position and direction using internal sensors and external assistance from the surrounding environment, including the Global Positioning System (GPS) and Radio Frequency Identification (RFID). It can also detect obstacles it encounters on the road using a laser range sensor. To confirm the effectiveness of our research results, for six months at the Aichi Expo 2005 we demonstrated the wheelchair system by offering trial rides to visitors. This paper describes the total system of "TAO Aide", the positioning method using GPS and RFID, and the autonomous traveling control based on accurate estimations of position and direction using Kalman filtering. Our experimental results at the Aichi Expo demonstrated that accurate trajectory following performance can be achieved using assistance from the infrastructure (GPS, RFID) and that "TAO Aide" could perform safe autonomous traveling without severe accidents.
AB - This paper reports on the development of the "TAO Aide", an intelligent wheelchair with autonomous traveling capability. The wheelchair can accurately determine its position and direction using internal sensors and external assistance from the surrounding environment, including the Global Positioning System (GPS) and Radio Frequency Identification (RFID). It can also detect obstacles it encounters on the road using a laser range sensor. To confirm the effectiveness of our research results, for six months at the Aichi Expo 2005 we demonstrated the wheelchair system by offering trial rides to visitors. This paper describes the total system of "TAO Aide", the positioning method using GPS and RFID, and the autonomous traveling control based on accurate estimations of position and direction using Kalman filtering. Our experimental results at the Aichi Expo demonstrated that accurate trajectory following performance can be achieved using assistance from the infrastructure (GPS, RFID) and that "TAO Aide" could perform safe autonomous traveling without severe accidents.
KW - GPS
KW - Localization
KW - RFID
KW - Trajectory control
KW - Vehicle
KW - Wheelchair
UR - http://www.scopus.com/inward/record.url?scp=34250651368&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2006.281966
DO - 10.1109/IROS.2006.281966
M3 - Conference contribution
AN - SCOPUS:34250651368
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4322
EP - 4327
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -