Autonomous Wheelchair Andreea Bancila ‘13 Professor Audrey Lee St. John Dr. Dan Barry Dr. William Kennedy Andreea Bancila ‘13 Professor Audrey Lee St. John Dr. Dan Barry Dr. William Kennedy

General project overview  Created and developed by MobileRobots and Dr. Dan Barry  Research team and students testing and improving the way in which the wheelchair functions  The main goal is to provide patients with independence and privacy  Created and developed by MobileRobots and Dr. Dan Barry  Research team and students testing and improving the way in which the wheelchair functions  The main goal is to provide patients with independence and privacy

Wheelchair “interaction”  Connection between wheelchair and PC

Laser Sensors  Laser sensors use light beams to measure distances  The time used by the light to travel back to the sensor is used to calculate the distance between wheelchair and other objects  Laser sensors use light beams to measure distances  The time used by the light to travel back to the sensor is used to calculate the distance between wheelchair and other objects

Sensors  Three laser sensors  One high, two low  Three laser sensors  One high, two low Upper Sensor Lower Back Sensor Touch Screen

Localization Identifying surroundings. Knowing where you are. Pressing the localization button VS Using Mobile Eyes Pressing the localization button VS Using Mobile Eyes

User Interface  Touch screen  Keyboard and Mouse  Touch screen  Keyboard and Mouse

Drive Modes Manual Drive Mode Smart Drive Mode Express Drive Mode

Wheelchair- Express Mode

Mobile Eyes  Handling the chair remotely

Goal Drive Mode and Mobile Eyes Wheelchair Goal Path

Mapper3  Changing the map

Challenges

Thank you!