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Implementation of target tracking in Smart Wheelchair Component System

Sharma, Vinod Kumar (2006) Implementation of target tracking in Smart Wheelchair Component System. Master's Thesis, University of Pittsburgh. (Unpublished)

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Independent mobility is critical to individuals of any age. While the needs of many individuals with disabilities can be satisfied with power wheelchairs, some members of the disabled community find it difficult or impossible to operate a standard power wheelchair. This population includes, but is not limited to, individuals with low vision, visual field neglect, spasticity, tremors, or cognitive deficits. To meet the needs of this population, our group is involved in developing cost effective modularly designed Smart Wheelchairs. Our objective is to develop an assistive navigation system which will seamlessly integrate into the lifestyle of individual with disabilities and provide safe and independent mobility and navigation without imposing an excessive physical or cognitive load. The Smart Wheelchair Component System (SWCS) can be added to a variety of commercial power wheelchairs with minimal modification to provide navigation assistance. Previous versions of the SWCS used acoustic and infrared rangefinders to identify and avoid obstacles, but these sensors do not lend themselves to many desirable higher-level behaviors. To achieve these higher level behaviors we integrated a Continuously Adapted Mean Shift (CAMSHIFT) target tracking algorithm into the SWCS, along with the Minimal Vector Field Histogram (MVFH) obstacle avoidance algorithm. The target tracking algorithm provides the basis for two distinct operating modes: (1) a "follow-the-leader" mode, and (2) a "move to stationary target" mode.The ability to track a stationary or moving target will make smart wheelchairs more useful as a mobility aid, and is also expected to be useful for wheeled mobility training and evaluation. In addition to wheelchair users, the caregivers, clinicians, and transporters who provide assistance to wheelchair users will also realize beneficial effects of providing safe and independent mobility to wheelchair users which will reduce the level of assistance needed by wheelchair users.


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Item Type: University of Pittsburgh ETD
Status: Unpublished
CreatorsEmailPitt UsernameORCID
Sharma, Vinod Kumarvks3@pitt.eduVKS3
ETD Committee:
TitleMemberEmail AddressPitt UsernameORCID
Committee ChairSimpson, Richardris20@pitt.eduRIS20
Committee MemberBrienza, David MDBrienza@pitt.eduDBRIENZA
Committee MemberCooper, Rory Arcooper@pitt.eduRCOOPER
Date: 31 January 2006
Date Type: Completion
Defense Date: 22 November 2005
Approval Date: 31 January 2006
Submission Date: 13 November 2005
Access Restriction: No restriction; Release the ETD for access worldwide immediately.
Institution: University of Pittsburgh
Schools and Programs: Swanson School of Engineering > Bioengineering
Degree: MSBeng - Master of Science in Bioengineering
Thesis Type: Master's Thesis
Refereed: Yes
Uncontrolled Keywords: Continuously Adaptive Mean Shift Algorithm(CAMSHIF; Intelligent Mobility Aids(IMA); Minimum Vector Field Histogram(MVFH); Smart WHeelchair Component System(SWCS); Vector Field Histogram(VFH) etc
Other ID:, etd-11132005-113028
Date Deposited: 10 Nov 2011 20:04
Last Modified: 15 Nov 2016 13:51


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