The autonomous mobile robot SENARIO: a sensor-aided intelligent navigation for powered wheelchairs
Katevas, N; Sgouros, N.M.; Tzafestas, S; Papakonstantinou, G; Beattie, P; Bishop, Mark (J. M.); Tsanakas, P and Koutsouris, D. 1997. The autonomous mobile robot SENARIO: a sensor-aided intelligent navigation for powered wheelchairs. IEEE Robotics and Automation, 4(4), pp. 60-70. ISSN 1070-9932 [Article]No full text available
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Abstract or Description
The SENARIO project is develoing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs. The authors discuss new and improved technologies developed within SENARIO concerning task/path planning, sensing and positioning for indoor mobile robots as well as user interface issues. The autonomous mobile robot SENARIO, supports semi- or fully autonomous navigation. In semi-autonomous mode the system accepts typical motion commands through a voice-activated or standard joystick interface and supports robot motion with obstacle/collision avoidance features. Fully autonomous mode is a superset of semi-autonomous mode with the additional ability to execute autonomously high-level go-to-goal commands. At its current stage, the project has succeeded in fully supporting semi-autonomous navigation, while experiments on the fully autonomous mode are very encouraging