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Wireless Mobile Communication and Healthcare. 12th EAI International Conference, MobiHealth 2023, Vila Real, Portugal, November 29-30, 2023 Proceedings

Research Article

Optimising Wheelchair Path Planning

Cite
BibTeX Plain Text
  • @INPROCEEDINGS{10.1007/978-3-031-60665-6_5,
        author={B. Ribeiro and Paulo A. Salgado and T.-P. Azevedo Perdico\^{u}lis and Paulo Lopes dos Santos},
        title={Optimising Wheelchair Path Planning},
        proceedings={Wireless Mobile Communication and Healthcare. 12th EAI International Conference, MobiHealth 2023, Vila Real, Portugal, November 29-30, 2023 Proceedings},
        proceedings_a={MOBIHEALTH},
        year={2024},
        month={6},
        keywords={Energy Optimisation Robotics Wheelchair path planning Obstacle avoidance},
        doi={10.1007/978-3-031-60665-6_5}
    }
    
  • B. Ribeiro
    Paulo A. Salgado
    T.-P. Azevedo Perdicoúlis
    Paulo Lopes dos Santos
    Year: 2024
    Optimising Wheelchair Path Planning
    MOBIHEALTH
    Springer
    DOI: 10.1007/978-3-031-60665-6_5
B. Ribeiro1, Paulo A. Salgado1, T.-P. Azevedo Perdicoúlis1, Paulo Lopes dos Santos2,*
  • 1: ECT, UTAD
  • 2: FEUP, UP
*Contact email: pjsantos@fe.up.pt

Abstract

This article addresses the problem of wheelchair path planning. In particular, to minimize the length of the trajectory within an environment containing a variable number of obstacles. The positions and quantities of these obstacles are pre-determined. To tackle this challenge, we present a methodology that integrates optimisation techniques and heuristic algorithms to find trajectories both optimal and collision-free. The effectiveness of this methodology is illustrated through a practical example, demonstrating how it successfully generates a collision-free trajectory, even when a large number of obstacles is present in the workspace. In the future, we intend to continue investigating the same problem, taking into account energy consumption as well as time minimisation.

Keywords
Energy Optimisation Robotics Wheelchair path planning Obstacle avoidance
Published
2024-06-28
Appears in
SpringerLink
http://dx.doi.org/10.1007/978-3-031-60665-6_5
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