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Path planning on a 2D-grid is a well-studied problem in robotics. It usually involves searching for a shortest path between two vertices on a grid. Single-source path planning is a modified problem which asks to find distances from a given point to all other points on the map. A high-performance algorithm for single-source any-angle path planning on a grid that we named CWave is proposed in this work...
Motorized wheelchairs are systems with changing parameters: rolling friction which depends on the ground surface, center of gravity and even the total mass of the system may vary. This affects the performance of PID controllers normally used for wheelchair velocity control. This paper presents an adaptive controller with online parameter estimation for the motion control of a semi-autonomous robotic...
In this work, we are presenting a navigation framework for electric wheelchairs which integrates various alternative input interfaces (voice control with Google Glass, voice control with CMU Sphinx, and facial expression control with Emotiv EPOC) with assistive navigation. Assistive navigation compensates for the limitations of the alternative interfaces by implementing obstacle avoidance. This enables...
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