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Developing Intelligent Wheelchair Prototypes: A Summary of Activities (Dec 2010 - June 2011)

This document summarizes the activities undertaken from December 2010 to June 2011 as part of the Interreg SYSIASS project, partially funded by the European Regional Development Fund. It includes the definition of wheelchair prototype functionalities, instrumentation development, data processing schemes, and path planning algorithms. Emphasis is placed on obstacle avoidance and safe navigation strategies. Notable publications resulting from this work are also highlighted, showcasing advancements in localization and control strategies for intelligent mobility solutions.

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Developing Intelligent Wheelchair Prototypes: A Summary of Activities (Dec 2010 - June 2011)

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  1. Part-financed by the European Regional Development Fund Work meetingInterreg SYSIASS project 24th June 2011 ISEN

  2. Summary of Activity 1December 2010 – June 2011 • Sub-action 1: Definition of the specificities and functionalities of the wheelchair prototypes • Questionnaire: ISEN & GHICL & EKHUFT • Sub-action 2: Instrumentation (sensors, actuators, computer interface) and data processing scheme to achieve wheelchair • ISEN and EC Lille: Instrumentation of the wheelchair, localisation • Kent: the work on Neuronal Network, something else? • Essex: instrumentation of the wheelchair • Sub-action3: System modelisation and off-line and on-line parameter identification • Sarah?

  3. Summary of Activity 1December 2010 – June 2011 • Sub-action 4: Design of path planning and robust trajectory tracking algorithms, under optimality criteria (minimum loss of energy, minimum time for displacement…) and under constraints (static and dynamic obstacles avoidance, keeping the communication links, limited information…). • ISEN & EC Lille: path planning • Kent (Sarah, Michael, Ben) • Essex ? • Sub-action 5: Elaboration of the navigation strategies in order to avoid the collision between the intelligent wheelchair and obstacles and to guarantee a safe functioning • ISEN & EC Lille • Kent, Essex?

  4. Summary of Activity 1December 2010 – June 2011 • Sub-action 6: Numerical implementation, tests and validation of the algorithms on the test bench • The first scenario implemented on the ISEN wheelchair • List of publications • H. Sert, A. Kokosy and W. Perruquetti, A single landmark based localization algorithm for non-holonomic mobile robots, IEEE ICRA, Shangai, China, May 2011 • S. Govindaswamy, T. Floquet, S. K Spurgeon, Discrete time Output Feedback Sliding Mode Control for Uncertain Systems, IFAC World Congress, August 2011 • H. Sert, A. Kokosy, J. Xin and W. Perruquetti, Decentralized Cooperative Navigation Strategy for an Autonomous, submitted to IEEE IROS’2011

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