A navigation method based on POMDP for smart wheelchairin uncertain environments |
| |
Authors: | Tao Yong Wang Tianmiao Wei Hongxing Chen Diansheng |
| |
Affiliation: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, P.R. China |
| |
Abstract: | A navigation method based on the partially observable markov decision process (POMDP) for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user's joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper. |
| |
Keywords: | service robot smart wheelchair navigation method partially observable markov decision process (POMDP) |
本文献已被 维普 万方数据 等数据库收录! |
|