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.
CITATION STYLE
Panzarella, T., Schwesinger, D., & Spletzer, J. (2016). CoPilot: Autonomous doorway detection and traversal for electric powered wheelchairs. In Springer Tracts in Advanced Robotics (Vol. 113, pp. 233–248). Springer Verlag. https://doi.org/10.1007/978-3-319-27702-8_16
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