Behavior based control of a robotic based navigation aid for the blind

Amur S. Al Yahmadi, Abu Baker El Tahir El-Dirdiri, Tasneem Pervez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a navigational approach that is intended to eventually be used in a GuideCane device. This is a device to help blind or visually impaired users to navigate safely and quickly among obstacles and other hazards. During operation, the user will be pushing the lightweight GuideCane forward. When the GuideCane's sensors detect an obstacle, a suitable direction of motion is decided that steers the GuideCane and the user around the obstacle. The ability to navigate autonomously, avoiding modelled and un-modelled obstacles especially in crowded and unpredictably changing environment is a challenging issue in the design of a travel aid for the blind. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. The approach constitutes a new method for behaviour coordination that suits the utilization of mobile robots in blind aid application. In addition to that a multi-structure controller was employed to enhance the overall navigation process. The behaviour coordination in our case is based on a reactive approach inspired by the Bug algorithm.

Original languageEnglish
Title of host publicationProceedings of the 11th IASTED International Conference on Control and Applications, CA 2009
Pages161-166
Number of pages6
Publication statusPublished - 2009
Event11th IASTED International Conference on Control and Applications, CA 2009 - Cambridge, United Kingdom
Duration: Jul 13 2009Jul 15 2009

Other

Other11th IASTED International Conference on Control and Applications, CA 2009
CountryUnited Kingdom
CityCambridge
Period7/13/097/15/09

Fingerprint

Navigation
Robotics
Mobile robots
Hazards
Controllers
Sensors

Keywords

  • Behavior based navigation
  • Fuzzy logic
  • Guidecane
  • Mobile robots

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Al Yahmadi, A. S., El-Dirdiri, A. B. E. T., & Pervez, T. (2009). Behavior based control of a robotic based navigation aid for the blind. In Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009 (pp. 161-166)

Behavior based control of a robotic based navigation aid for the blind. / Al Yahmadi, Amur S.; El-Dirdiri, Abu Baker El Tahir; Pervez, Tasneem.

Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009. 2009. p. 161-166.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Al Yahmadi, AS, El-Dirdiri, ABET & Pervez, T 2009, Behavior based control of a robotic based navigation aid for the blind. in Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009. pp. 161-166, 11th IASTED International Conference on Control and Applications, CA 2009, Cambridge, United Kingdom, 7/13/09.
Al Yahmadi AS, El-Dirdiri ABET, Pervez T. Behavior based control of a robotic based navigation aid for the blind. In Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009. 2009. p. 161-166
Al Yahmadi, Amur S. ; El-Dirdiri, Abu Baker El Tahir ; Pervez, Tasneem. / Behavior based control of a robotic based navigation aid for the blind. Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009. 2009. pp. 161-166
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