Key Technology of Semi-autonomous Control Based on Plan Recognition for Intelligent Wheelchair
Semi-autonomous control is now the focus of intelligent wheelchair researches, and User-adapted Plan Recognition has presented its advantages in this field. Based on user plan recognition, we are developing a controller which is not only capable for estimating users low-level intent (e.g. get to a point), but also high-level intent (e.g. open a door), for a manipulator-mounted intelligent wheelchair. Representation of user plan and user plan recognition is discussed in this paper, including several key points: 1) a detailed classification and corresponding representation of user intent 2) a method to connect different types of user intent, 3) A method to change user operation data from continuous form (not suitable for reasoning) to sequence form (suitable for reasoning), 4) a plan recognition method for manipulator-mounted intelligent wheelchair.
Intelligent Wheelchair Plan recognition Intent estimation Semi-autonomous control
Yanyu Su Zhijiang Du Yufeng Yao
Robotics Institute of HIT, Harbin Institute of Technology, Harbin, China
国际会议
长沙
英文
1670-1674
2010-03-13（万方平台首次上网日期，不代表论文的发表时间）