A vision-based path planner/follower for an assistive robotics project

Andrea Cherubini, Giuseppe Oriolo, Francesco Macrì, Fabio Aloise, Febo Cincotti, Donatella Mattia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Assistive technology is an emerging area where robots can be used to help individuals with motor disabilities achieve independence in daily living activities. Mobile robots should be able to autonomously and safely move in the environment (e.g. the user apartment), by accurately solving the self-localization problem and planning efficient paths to the target destination specified by the user. This paper presents a vision-based navigation scheme designed for Sony AIBO, in ASPICE, an assistive robotics project. The navigation scheme is map-based: visual landmarks (white lines and coded squares) are placed in the environment, and the robot utilizes visual data to follow the paths composed by these landmarks, and travel to the required destinations. Performance of this vision-based scheme is shown by experiments and comparison with two previously existing ASPICE navigation modes. Finally, the system is clinically validated, in order to obtain a definitive assessment through patient feedback.

Original languageEnglish
Title of host publicationProceedings of the 1st International Workshop on Robot Vision; In Conjunction with VISAPP 2007
Pages77-86
Number of pages10
Publication statusPublished - 2007
Event1st International Workshop on Robot Vision; In Conjunction with VISAPP 2007 - Barcelona, Spain
Duration: Mar 8 2007Mar 8 2007

Other

Other1st International Workshop on Robot Vision; In Conjunction with VISAPP 2007
CountrySpain
CityBarcelona
Period3/8/073/8/07

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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