Basic Design of Visual Saliency Based Autopilot System Used for Omnidirectional Mobile Electric Wheelchair
Basic Design of Visual Saliency Based Autopilot System Used for Omnidirectional Mobile Electric Wheelchair
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DOI：
10.13189/csit.2015.030503
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
H. Madokoro;Keigo Shirai;Kazuhito Sato;N. Shimoi
中科院分区：
文献类型：
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作者：
H. Madokoro;Keigo Shirai;Kazuhito Sato;N. Shimoi
本文提出了自动驾驶系统的基本设计，以实现电动轮椅的自动运动，强调简单性和功能性。在这项研究中，我们设计了一种新型电动轮椅，其具有先进的移动性，使用麦克纳姆轮实现全向运动，无需转动，并在外观设计上考虑了原型机的开发。此外，我们开发的原型机在外观设计上也下了很大功夫。我们的设计理念是电动个人辅助移动设备（EPAMD），它可以轻松融入人们的日常生活。为了防止碰撞，使用测距传感器和深度传感器进行环境识别。本文提出了全局运动和局部运动作为自动驾驶仪的框架。对于全局运动，我们解决了基于视觉显着性的视觉地标检测算法以及基于自适应和无监督机器学习的类别图创建。我们的方法可视化低维空间中视觉地标上的时间序列特征及其关系。我们研究了一种新颖的设计及其作为 EPAMD 应用于电动轮椅的可能性，特别是旨在提高老年人日常生活的独立性。
This paper presents a fundamental design of an autopilot system to actualize automatic locomotion for an electric wheelchair with emphasis on simplicity and functionality. For this study, we designed a novel electric wheelchair with advanced mobility using Mecanum wheels that actualize omnidirectional movements without turning and developed a prototype with consideration devoted to the exterior design. Moreover, our developed prototype is considered with devotion of the exterior design. Our design concept is Electric Personal Assistive Mobility Device (EPAMD), which has ease of integration with a person's daily life. To prevent collisions, ranging sensors and depth sensors are used for environmental recognition. This paper presents global locomotion and local locomotion as frame- works for an autopilot. For global locomotion, we address algorithms of visual landmark detection based on visual saliency and the creation of category maps based on adaptive and unsupervised machine learning. Our method visualizes time-series features and their relations on visual landmarks in a low-dimensional space. We examine a novel design and its possible adaptation to an electric wheelchair as an EPAMD, especially intended to improve the independence of elderly people in their daily life.