June 12, 2001Jeong-Su Han.ppt

* * June 12, 2001 Jeong-Su Han An Autonomous Vehicle for People with Motor Disabilitiesby G. Bourhis, O.Horn, O.Habert and A. Pruski Paper Review Contents Objectives of this project VAHM Robot Hardware Architecture Software Architecture Discussion Objectives To provide an aid to mobility for disabled people who find it  difficult of impossible to drive a conventional wheelchair. Not to make the robot as autonomous as possible but to take full advantage of the user’s abilities without burdening him with too much workload. Objectives respirator Voice Joystick VAHM Robot First prototype of the VAHM robot began in 1989 Robuter mobile base A wheelchair seat PC 486 computer a belt of ultrasonic sensors man-machine interface (graphic screen) Current prototype of the VAHM robot Control mode the machine is only used to transmit and adapt data from the user and the mobility task. Manual Mode the machine has complete control of the system,  once a goal is selected. Automatic Mode control is divided between the user and the machine. sharing degrees of liberty. e.g.) the user: choose way to go, the machine: obstacle avoidance Semiautonomous Mode Hardware Architecture Ultrasonic Sensors Hardware Connections Graphic Interface Incremental Encoders a belt of 16 ultrasonic sensors. cover each side of wheelchair. updates the measurement table every 100ms. mounted on the shaft of each engine. provide relative localization data through  position and orientation. DX (Control Dynamics) bus is used. can be connected the various electronic modules. Software Architecture Perception control Localization Static localization vs. Dynamic localization Free space detection Relatively large area ( a radius of 2 m around the robot) will be  considered as an obstacle in free space detection. Localization Ultrasonic measurement and the user’s indication is used. e.g.) ‘sitting-room entrance’, ‘near the bed’ The principle: to look for the best possi