title: Development of a Bayesian recursive algorithm to find free-spaces for an intelligent wheelchair.
abstract: This paper introduces a new shared control strategy for an intelligent wheelchair using a Bayesian recursive algorithm. Using the local environment information gathered by a laser range finder sensor and commands acquired through a user interface, a Bayesian recursive algorithm has been developed to find the most appropriate free-space, which corresponds to the highest posterior probability value. Then, an autonomous navigation algorithm will assist to manoeuvre the wheelchair in the chosen free-space. Experiment results demonstrate that the new method provides excellent performance with great flexibility and fast response.
authors.affiliation: Faculty of Engineering and Information Technology, University of Technology, Sydney, Broadway, NSW 2007, Australia. Anh.Nguyen-3@student.uts.edu.au
authors.forename: Anh V
authors.initials: AV
authors.lastname: Nguyen
authors.forename: Steven
authors.initials: S
authors.lastname: Su
authors.forename: Hung T
authors.initials: HT
authors.lastname: Nguyen
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D001499:Bayes Theorem; D001698:Biomedical Engineering; D003201:Computers; D004867:Equipment Design / Q000379:methods*; D006801:Humans; D015233:Models, Statistical; D011336:Probability; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods; D012815:Signal Processing, Computer-Assisted; D014584:User-Computer Interface; D014910:Wheelchairs