The autonomous mobile robot SENARIO: A sensor-aided intelligent navigation system for powered wheelchairs

Katevas, NI; Sgours, NM; Tzafestas, SG; Papakonstantinou, G; Beattie, P; Bishop, JM; Tsanakas, P; Koutsouris, D

dc.contributor.author	Katevas, NI	en
dc.contributor.author	Sgours, NM	en
dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Papakonstantinou, G	en
dc.contributor.author	Beattie, P	en
dc.contributor.author	Bishop, JM	en
dc.contributor.author	Tsanakas, P	en
dc.contributor.author	Koutsouris, D	en
dc.date.accessioned	2014-03-01T01:13:26Z
dc.date.available	2014-03-01T01:13:26Z
dc.date.issued	1997	en
dc.identifier.issn	1070-9932	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12474
dc.subject	Autonomous navigation	en
dc.subject	Autonomous system architecture	en
dc.subject	Mobile robots	en
dc.subject	Obstacle avoidance	en
dc.subject	Path planning	en
dc.subject	Rehabilitation robotics	en
dc.subject	Task planning	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Robotics	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Motion planning	en
dc.subject.other	Navigation systems	en
dc.subject.other	Position control	en
dc.subject.other	Sensors	en
dc.subject.other	User interfaces	en
dc.subject.other	Wheelchairs	en
dc.subject.other	Autonomous navigation	en
dc.subject.other	Autonomous system architecture	en
dc.subject.other	Rehabilitation robotics	en
dc.subject.other	SENARIO mobile robot	en
dc.subject.other	Sensor aided intelligent navigation system	en
dc.subject.other	Mobile robots	en
dc.title	The autonomous mobile robot SENARIO: A sensor-aided intelligent navigation system for powered wheelchairs	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/100.637806	en
heal.identifier.secondary	http://dx.doi.org/10.1109/100.637806	en
heal.language	English	en
heal.publicationDate	1997	en
heal.abstract	The SENARIO project is developing a sensor-aided intelligent navigation system that provides high-level navigational aid to users of powered wheelchairs. The authors discuss new and improved technologies developed within SENARIO concerning task/path planning, sensing and positioning for indoor mobile robots as well as user interface issues. The autonomous mobile robot SENARIO, supports semi- or fully autonomous navigation. In semi-autonomous mode the system accepts typical motion commands through a voice-activated or standard joystick interface and supports robot motion with obstacle/collision avoidance features. Fully autonomous mode is a superset of semi-autonomous mode with the additional ability to execute autonomously high-level go-to-goal commands. At its current stage, the project has succeeded in fully supporting semi-autonomous navigation, while experiments on the fully autonomous mode are very encouraging.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Robotics and Automation Magazine	en
dc.identifier.doi	10.1109/100.637806	en
dc.identifier.isi	ISI:000071135400012	en
dc.identifier.volume	4	en
dc.identifier.issue	4	en
dc.identifier.spage	60	en
dc.identifier.epage	69	en