eprintid: 10172120
rev_number: 13
eprint_status: archive
userid: 699
dir: disk0/10/17/21/20
datestamp: 2023-06-21 08:12:15
lastmod: 2024-04-10 11:35:54
status_changed: 2023-06-21 08:12:15
type: proceedings_section
metadata_visibility: show
sword_depositor: 699
creators_name: Arditti, Samuel
creators_name: Habert, Félix
creators_name: Saracbasi, Ozge Ozlem
creators_name: Walker, George
creators_name: Carlson, Tom
title: Tackling the Duality of Obstacles and Targets in Shared Control Systems: A Smart Wheelchair Table-Docking Example
ispublished: pub
divisions: UCL
divisions: B02
divisions: C10
divisions: D16
divisions: G86
keywords: Navigation; Wheelchairs; 
Robot sensing systems; Sensor systems; 
Safety; Trajectory; Intelligent sensors
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: Many studies have shown that a smart wheelchair could improve the quality of life of people with restricted mobility by providing them with more freedom in the daily activities they can undertake independently. In addition to enhancing independent mobility, it is important to ensure safety for wheelchair users and those around them. To date, previous studies have mostly focused on (semi-)autonomous navigation or obstacle avoidance. By contrast, in this study, we tackle the challenging, but important problem of safely docking to tables. We propose a robotic navigation assistance, applied to electric powered wheelchairs using Time-of-Flight (ToF) sensors to facilitate table-docking for users. To meet this objective, we designed a low-cost sensor system that was integrated into our smart wheelchair prototype, which can detect a table and accurately estimate its height. We then developed a robust algorithm to deliver the manoeuvring assistance. First, we simulated the smart wheelchair system within Unity3D to find the best positions for the ToF sensors and evaluate the accuracy of the docking system, employing different table styles. Then, we experimentally validate the system on our physical wheelchair, using varying angles of approach, which demonstrate its feasibility.
date: 2024-01-29
date_type: published
publisher: IEEE
official_url: https://doi.org/10.1109/SMC53992.2023.10393886
oa_status: green
full_text_type: other
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 2030076
doi: 10.1109/SMC53992.2023.10393886
isbn_13: 979-8-3503-3702-0
lyricists_name: Carlson, Tom
lyricists_id: TCARL67
actors_name: Carlson, Tom
actors_id: TCARL67
actors_role: owner
full_text_status: public
pres_type: paper
publication: Proc of IEEE International Conference on Systems, Man, and Cybernetics (SMC)
place_of_pub: Honolulu, Oahu, HI, USA
pagerange: 1-6
event_title: 2023 IEEE Conference on Systems, Man, and Cybernetics (SMC)
event_location: Maui, Hawai’i
event_dates: 1 Oct 2023 - 4 Oct 2023
issn: 2577-1655
book_title: 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
citation:        Arditti, Samuel;    Habert, Félix;    Saracbasi, Ozge Ozlem;    Walker, George;    Carlson, Tom;      (2024)    Tackling the Duality of Obstacles and Targets in Shared Control Systems: A Smart Wheelchair Table-Docking Example.                     In:  2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC).  (pp. pp. 1-6).  IEEE: Honolulu, Oahu, HI, USA.       Green open access   
 
document_url: https://discovery-pp.ucl.ac.uk/id/eprint/10172120/1/SMC2023_ACCEPTED.pdf