Behavior-based perceptual navigation for semi-autonomous wheelchair operations

Abstract

This paper describes an overview of our semi-autonomous (SA) wheelchair prototype and emphasizes the design of the perceptual navigation system. The goal of our project is to increase independent mobility of individuals who are wheelchair-bound and severely vision impaired, and the scope of the project focuses on developing the perceptual navigation system that is equipped with sonar sensors, a motorized camera system, and a tactile feedback system. We present an overview of a customized Behavior-based control architecture: Behavior Cell and Behavior Network components, and implementation of behaviors such as obstacle notification, free-space finding, and doorway navigation.