TY - GEN
T1 - Behavior based control of a robotic based navigation aid for the blind
AU - Al Yahmadi, Amur S.
AU - El-Dirdiri, Abu Baker El Tahir
AU - Pervez, Tasneem
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Behavior based navigation
KW - Fuzzy logic
KW - Guidecane
KW - Mobile robots
UR - http://www.scopus.com/inward/record.url?scp=74549155802&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:74549155802
SN - 9780889867949
T3 - Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009
SP - 161
EP - 166
BT - Proceedings of the 11th IASTED International Conference on Control and Applications, CA 2009
T2 - 11th IASTED International Conference on Control and Applications, CA 2009
Y2 - 13 July 2009 through 15 July 2009
ER -