Comfortable autonomous navigation based on collision prediction in blind occluded regions

Taishi Sawabe, Masayuki Kanbara, Norimichi Ukita, Tetsushi Ikeda, Luis Yoichi Morales Saiki, Atsushi Watanabe, Norihiro Hagita

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

10 Citations (Scopus)

Abstract

This paper presents an approach for human passenger stress reduction while riding a personal mobility autonomous vehicle. The particular vehicle of interest is a robotic autonomous wheelchair which can provide mobility assistance in pedestrian paths. State of the art algorithms for autonomous vehicles mainly focus on collision free path planning and safe control for obstacle avoidance. This work studies comfort factors of the passenger while riding the vehicle. We propose a method for velocity control of the robotic wheelchair based on the concept of behavior dependent observability to reduce stress from the collision prediction in blind regions. Behavior dependent observability (BDO) is defined as the visible collision area against dynamic obstacles which is free from collision. By using BDO, the velocity of the robotic wheelchair is computed so that passengers feel comfortable. Experimental results based on physiological measurements (heart rate and galvanic skin response) show that the control of the robotic wheelchair using the behavior dependent observability decreases stressful situations for passengers.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages75-80
Number of pages6
ISBN (Electronic)9781467391146
DOIs
Publication statusPublished - 2016 Feb 1
EventIEEE International Conference on Vehicular Electronics and Safety, ICVES 2015 - Yokohama, Japan
Duration: 2015 Nov 52015 Nov 7

Publication series

Name2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015

Other

OtherIEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
CountryJapan
CityYokohama
Period15/11/515/11/7

Keywords

  • behavior dependent observability
  • physiological measurements
  • robotic wheelchair
  • stress

ASJC Scopus subject areas

  • Safety, Risk, Reliability and Quality
  • Electrical and Electronic Engineering
  • Automotive Engineering

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  • Cite this

    Sawabe, T., Kanbara, M., Ukita, N., Ikeda, T., Saiki, L. Y. M., Watanabe, A., & Hagita, N. (2016). Comfortable autonomous navigation based on collision prediction in blind occluded regions. In 2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015 (pp. 75-80). [7396897] (2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICVES.2015.7396897