...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Autonomous robots >User-adapted plan recognition and user-adapted shared control: A Bayesian approach to semi-autonomous wheelchair driving
【24h】

User-adapted plan recognition and user-adapted shared control: A Bayesian approach to semi-autonomous wheelchair driving

机译：用户自适应的计划识别和用户自适应的共享控制：贝叶斯半自动轮椅驾驶方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Many elderly and physically impaired people experience difficulties when maneuvering a powered wheelchair. In order to ease maneuvering, powered wheelchairs have been equipped with sensors, additional computing power and intelligence by various research groups. This paper presents a Bayesian approach to maneuvering assistance for wheelchair driving, which can be adapted to a specific user. The proposed framework is able to model and estimate even complex user intents, i.e. wheelchair maneuvers that the driver has in mind. Furthermore, it explicitly takes the uncertainty on the user's intent into account Besides during intent estimation, user-specific properties and uncertainty on the user's intent are incorporated when taking assistive actions, such that assistance is tailored to the user's driving skills. This decision making is modeled as a greedy Partially Observable Markov Decision Process (POMDP). Benefits of this approach are shown using experimental results in simulation and on our wheelchair platform Sharioto.
机译：许多老年人和肢体残障人士在操作电动轮椅时会遇到困难。为了简化操作，各个研究小组已为电动轮椅配备了传感器，附加的计算能力和智能。本文提出了一种贝叶斯的轮椅驾驶操纵辅助方法，该方法可以适合特定用户。所提出的框架能够建模和估计甚至复杂的用户意图，即驾驶员所考虑的轮椅操纵。此外，它明确考虑了用户意图的不确定性。此外，在进行意图估算时，在采取辅助措施时会结合特定于用户的属性和用户意图的不确定性，从而根据用户的驾驶技能量身定制辅助功能。该决策模型被建模为贪婪的部分可观察的马尔可夫决策过程（POMDP）。通过仿真中的实验结果以及在我们的轮椅平台Sharioto上显示了这种方法的优势。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号