Design and Realization of a remote control interface for a robotic wheelchair

Abstract

Our work deals with finding solutions to several problems of interaction between machines and humans. Part of it deals with the problem of designing and building a robot interface on Android. It will be a question of studying the possibility of using tools such as Android to implement an application allowing communication with the robot's software environment, deployed under the ROS (Robot Operating System). This work also addresses the problems of localization and mapping of a wheelchair robot in a previously unknown environment. The robot is equipped with a Hokuyo4 UST-10LX laser sensor, the laser data is used to accomplish the positioning and mapping tasks. In such a situation, the two problems can not be dissociated, therefore, we propose to adopt a Simultaneous Localization And Mapping (SLAM) approach. Hector_Slam is suggested to solve this problem. Also, part was allocated to deal with the problem of safe robotic wheelchair navigation with a limited field of view in an unknown previously environment. Input state-space (ISS) has been suggested to solve this problem.