Ross Desmond

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This paper provides an overview of the sensor network and mounting hardware used to convert a commercially available powered wheelchair into a semi-autonomous wheelchair. Emphasis is placed on modular design and ease of use. Although the sensor packages are used for the semi-autonomous navigation of a powered wheelchair, the sensor network presented has the(More)
This paper presents the hardware and software control framework for a semi-autonomous wheelchair. The hardware design incorporates modular and recon-figurable sensors and corresponding low-level software architecture. Two control schemes are discussed. Assisted control that augments the user inputs by providing functionalities such as obstacle avoidance and(More)
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