| Abstract / Kurzbeschreibung: |
This article describes the Bremen Autonomous Wheelchair as a mobility assistant for the handicapped. Based on a safety layer and elementary navigation skills such as smooth speed control, obstacle avoidance, and others, several instances of assistants that provide a variety of support levels for the human operator were implemented. After the detailed description of the safe abstraction of the real wheelchair provided by the safety layer and the elementary skills, two complementary assistants are presented. |
