A navigation method based on POMDP for smart wheelchair in uncertain environments  

作　　者：陶永 Wang Tianmiao Wei Hongxing Chen Diansheng 

机构地区：[1]School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, P.R. China

出　　处：《High Technology Letters》2010年第2期164-170,共7页高技术通讯（英文版）

摘　　要：A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.

关 键 词：service robot smart wheelchair navigation method partially observable markov decision process （POMDP） 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] F272.3[自动化与计算机技术—控制科学与工程]