Navigating blind people with a smart walker
Navigating blind people with a smart walker
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用智能助行器为盲人导航
DOI：
10.1109/iros.2015.7354233
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Wolfram Burgard
中科院分区：
文献类型：
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作者：
Andreas Wachaja;Pratik Agarwal;Mathias Zink;M. R. Adame;K. Möller;Wolfram Burgard
在复杂和未知的环境中导航是盲人面临的主要挑战。然而，最受欢迎的传统导航辅助设备，如白色手杖和导盲犬，在这种情况下提供的帮助有限，因为它们仅限于解释当地环境。同时，它们很难与有行走障碍的老年人所需的步行者结合。机器人领域开发的技术有可能帮助盲人完成复杂的导航任务，因为它们可以提供有关全球和本地环境模型的障碍和原因的信息。本文的贡献是一个智能步行者，使盲人用户安全地导航。它包括一个创新的振动触觉用户界面和一个控制器，该控制器考虑到基于用户研究的人类特征。步行者的设计是为了应对人类只能感知和解释有限数量的命令并且具有延迟响应的事实。我们的实验验证了我们的说法，本文中概述的技术引导用户在更短的时间内达到预期的目标，并与标准的机器人控制器相比，具有更短的行驶距离。
Navigation in complex and unknown environments is a major challenge for blind people. The most popular, conventional navigation aids such as white canes and guide dogs, however, provide limited assistance in such settings as they are constrained to interpret the local environment only. At the same time, they can hardly be combined with a walker required by elderly people with walking disabilities. Technologies developed in the field of robotics have the potential to assist blind people in complex navigation tasks as they can provide information about obstacles and reason on both global and local environment models. The contribution of this paper is a smart walker that enables blind users to safely navigate. It includes an innovative vibro-tactile user interface and a controller that takes into account human characteristics based on a user study. The walker has been designed to deal with the fact that humans can only sense and interpret a limited number of commands and have a delayed response. Our experiments validate our claim that the technique outlined in this paper guides a user to the desired goal in less time and with shorter traveled distance compared to a standard robotic controller.