Research Article
Optimising Wheelchair Path Planning
@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
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.
