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Self-Localisation in the ‘Senario’ Autonomous Wheelchair

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Abstract

This paper introduces the Focused Stochastic Diffusion Network as a novel method of self-localisation for an autonomous wheelchair in a complex, busy environment. The space of possible positions is explored in parallel by a set of cells searching in a competitive co-operative manner for the most likely position of the wheelchair in its environment. Experimental results from the SENARIO autonomous wheelchair project indicate the technique is practical and robust.

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Authors and Affiliations

  1. Department of Cybernetics, University of Reading, Whiteknights, Reading, Berkshire, UK

    P. D. Beattie & J. M. Bishop

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  1. P. D. Beattie
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  2. J. M. Bishop
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Beattie, P.D., Bishop, J.M. Self-Localisation in the ‘Senario’ Autonomous Wheelchair. Journal of Intelligent and Robotic Systems 22, 255–267 (1998). https://doi.org/10.1023/A:1008033229660

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  • DOI: https://doi.org/10.1023/A:1008033229660

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