Qualitative Navigation for Autonomous Wheelchair Robots in Indoor Environments

  title={Qualitative Navigation for Autonomous Wheelchair Robots in Indoor Environments},
  author={Nikitas M. Sgouros},
  journal={Auton. Robots},
This article describes a novel qualitative navigation method for autonomous wheelchair robots in typical home environments. The method accepts as input a line diagram of the robot environment and converts it into an enhanced grid in which qualitative representations of variations in sensor behavior between adjacent regions in space are stored. An off-line planner uses these representations to store at each grid cell appropriate motion commands that will ideally move the wheelchair in and out of… CONTINUE READING


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