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ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor

by Yassine Nasri, Vincent Vauchey, Redouane Khemmar, Nicolas Ragot, Konstantinos Sirlantzis, Jean-Yves Ertaud
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 133 - Number 6
Year of Publication: 2016
Authors: Yassine Nasri, Vincent Vauchey, Redouane Khemmar, Nicolas Ragot, Konstantinos Sirlantzis, Jean-Yves Ertaud
10.5120/ijca2016907533

Yassine Nasri, Vincent Vauchey, Redouane Khemmar, Nicolas Ragot, Konstantinos Sirlantzis, Jean-Yves Ertaud . ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor. International Journal of Computer Applications. 133, 6 ( January 2016), 12-17. DOI=10.5120/ijca2016907533

@article{ 10.5120/ijca2016907533,
author = { Yassine Nasri, Vincent Vauchey, Redouane Khemmar, Nicolas Ragot, Konstantinos Sirlantzis, Jean-Yves Ertaud },
title = { ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor },
journal = { International Journal of Computer Applications },
issue_date = { January 2016 },
volume = { 133 },
number = { 6 },
month = { January },
year = { 2016 },
issn = { 0975-8887 },
pages = { 12-17 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume133/number6/23789-2016907533/ },
doi = { 10.5120/ijca2016907533 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T23:30:24.227974+05:30
%A Yassine Nasri
%A Vincent Vauchey
%A Redouane Khemmar
%A Nicolas Ragot
%A Konstantinos Sirlantzis
%A Jean-Yves Ertaud
%T ROS-based Autonomous Navigation Wheelchair using Omnidirectional Sensor
%J International Journal of Computer Applications
%@ 0975-8887
%V 133
%N 6
%P 12-17
%D 2016
%I Foundation of Computer Science (FCS), NY, USA
Abstract

In the medical sector, and mainly for dependent patients with movement disabilities, controlling an electric powered wheelchair could prove a challenging task. Thus, implementing an autonomous navigation algorithm for static/dynamic environments could provide an easier way to move. Within this context, this paper presents innovative work on integrating a novel method of image-based geolocalization in a powered wheelchair. The work focuses on integrating the geolocalization algorithm within the Robot Operating System (ROS) framework. Tests are being conducted using an omnidirectional camera fixed on an automated wheelchair control system. Our results show low control errors both in straight line and curved paths. The proposed algorithm was developed by the ESIGELEC laboratory.

References
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Index Terms

Computer Science
Information Sciences

Keywords

Image-based geolocalization automated robotic wheelchair omnidirectional vision sensor.

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