Obstacle avoidance in autonomous navigation platforms is a well known problem that can be solved in numerous ways. This paper considers and analyzes the use of wavefront planner as an obstacle avoidance algorithm for a 9-DoF wheelchair-mounted robotic arm (WMRA) [1]. It also presents a suitable solution for obstacle detection using the OpenNI driver for interfacing with Microsoft’s Kinect. It further analyzes the capabilities of an autonomous operation of the WMRA and explains how this algorithm can be implemented into its navigation control. The results of this project showed that the Kinect can provide a very accurate representation of the surroundings. The wavefront planner can use this data to find a path from a start position to a goal without running into an obstacle.
Skip Nav Destination
ASME 2012 Summer Bioengineering Conference
June 20–23, 2012
Fajardo, Puerto Rico, USA
Conference Sponsors:
- Bioengineering Division
ISBN:
978-0-7918-4480-9
PROCEEDINGS PAPER
Obstacle Detection and Avoidance Using Wavefront Planner and Kinect on a WMRA Available to Purchase
Ivan Shindev,
Ivan Shindev
University of South Florida, Tampa, FL
Search for other works by this author on:
Shane Marlin,
Shane Marlin
University of South Florida, Tampa, FL
Search for other works by this author on:
Nathan Preseault,
Nathan Preseault
University of South Florida, Tampa, FL
Search for other works by this author on:
Rodrigo Tamayo,
Rodrigo Tamayo
University of South Florida, Tampa, FL
Search for other works by this author on:
William Pence,
William Pence
University of South Florida, Tampa, FL
Search for other works by this author on:
Redwan Alqasemi
Redwan Alqasemi
University of South Florida, Tampa, FL
Search for other works by this author on:
Ivan Shindev
University of South Florida, Tampa, FL
Shane Marlin
University of South Florida, Tampa, FL
Nathan Preseault
University of South Florida, Tampa, FL
Rodrigo Tamayo
University of South Florida, Tampa, FL
William Pence
University of South Florida, Tampa, FL
Redwan Alqasemi
University of South Florida, Tampa, FL
Paper No:
SBC2012-80681, pp. 765-766; 2 pages
Published Online:
July 19, 2013
Citation
Shindev, I, Marlin, S, Preseault, N, Tamayo, R, Pence, W, & Alqasemi, R. "Obstacle Detection and Avoidance Using Wavefront Planner and Kinect on a WMRA." Proceedings of the ASME 2012 Summer Bioengineering Conference. ASME 2012 Summer Bioengineering Conference, Parts A and B. Fajardo, Puerto Rico, USA. June 20–23, 2012. pp. 765-766. ASME. https://doi.org/10.1115/SBC2012-80681
Download citation file:
10
Views
Related Proceedings Papers
Related Articles
Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application
Letters Dyn. Sys. Control (January,2021)
Motion Generation of Planar Six- and Eight-Bar Slider Mechanisms as Constrained Robotic Systems
J. Mechanisms Robotics (August,2015)
Single Channel Hybrid FES Gait Assist System
J. Med. Devices (June,2009)
Related Chapters
Navigation of an Autonomous Mobile Robot Using Artificial Immune System Algorithm
Intelligent Engineering Systems through Artificial Neural Networks
Mobile Robot Navigation Control in Moving Obstacle Environment Using A * Algorithm
Intelligent Engineering Systems through Artificial Neural Networks Volume 18
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution