Perceptual Navigation for Semi-Autonomous Wheelchair Operations

Studies have shown that individuals with disabilities, regardless of their age, benefit substantially from access to independent mobility, including electrically powered wheelchairs (Douglass & Ryan, 1987; Paulsson & Christoffersen, 1989; Verburg et al., 1991). Independent mobility increases vocational or educational opportunities, reduces dependence on caregivers, and promotes a feeling of self-reliance and self-esteem. Unfortunately, some individuals are unable to independently operate a powered wheelchair due to some combination of motor, sensory, or perceptual impairments. With the aim of assisting those individuals, a number of studies have been conducted in the field of assistive technology which combines robotics and artificial intelligence to develop an intelligent wheelchair system. In robotics, the intelligent wheelchair system is classified as a robotized wheelchair, a subcategory of service robots. The World Robotics 2005 survey predicts that service robots will routinely assist elderly and physically challenged people by the end of 2010, and have large potential for future applications not only within the service industries, but also in our rapidly aging society as future caregivers (United Nations, 2005). However, almost no robotized wheelchairs are currently on the market, and few are expected in the near future (United Nations, 2005). This may mean that the market for robotized wheelchairs is practically in the stage of infancy; most of the applications mainly serve research-based purposes rather than end customers. This chapter presents our semi-autonomous wheelchair prototype, which aims to increase independent mobility for individuals with multiple disabilities, specifically those who are wheelchair-bound and severely vision impaired, by providing perceptual and navigational capabilities. The scope of our project focuses on developing a perceptual navigation system to enable the user to maintain the maximum control over the wheelchair movement.