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Learning from demonstration for locally assistive mobility aids
http://hdl.handle.net/10061/0002000119
http://hdl.handle.net/10061/00020001197edd52f3-1c25-4217-8dd0-56ee8925e295
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||||||
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| 公開日 | 2024-02-07 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Learning from demonstration for locally assistive mobility aids | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ | journal article | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| 著者 |
Poon, James
× Poon, James
× Cui, Yunduan
× Valls Miro, Jaime
× 松原, 崇充 |
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| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Active assistive systems for mobility aids are largely restricted to environments mapped a-priori, while passive assistance primarily provides collision mitigation and other hand-crafted behaviors in the platform’s immediate space. This paper presents a framework providing active short-term assistance, combining the freedom of location independence with the intelligence of active assistance. Demonstration data consisting of on-board sensor data and driving inputs is gathered from an able-bodied expert maneuvring the mobility aid around a generic interior setting, and used in constructing a probabilistic intention model built with Radial Basis Function Networks. This allows for short-term intention prediction relying only upon immediately available user input and on-board sensor data, to be coupled with real-time path generation based upon the same expert demonstration data via Dynamic Policy Programming, a stochastic optimal control method. Together these two elements provide a combined assistive mobility system, capable of operating in restrictive environments without the need for additional obstacle avoidance protocols. Experimental results in both simulation and on the University of Technology Sydney semi-autonomous wheelchair in settings not seen in training data show promise in assisting users of power mobility aids. | |||||||||||
| 書誌情報 |
en : International Journal of Intelligent Robotics and Applications 巻 3, 号 3, 発行日 2019-07-04 |
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| 出版者 | ||||||||||||
| 出版者 | Springer | |||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||
| 収録物識別子 | 2366-598X | |||||||||||
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| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | DOI | |||||||||||
| 関連識別子 | https://doi.org/10.1007/s41315-019-00096-1 | |||||||||||
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| 関連タイプ | isReplacedBy | |||||||||||
| 識別子タイプ | URI | |||||||||||
| 関連識別子 | https://link.springer.com/article/10.1007/s41315-019-00096-1 | |||||||||||
| 権利 | ||||||||||||
| 権利情報Resource | http://creativecommons.org/licenses/by/4.0/ | |||||||||||
| 権利情報 | c The Author(s) 2019 This article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. | |||||||||||
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| 出版タイプ | NA | |||||||||||
