10-04-2017, 08:01 PM
Introduction:
a modification of the Color Indexing Scheme has been employed which identifies an object by comparing its color characteristics to the color characteristics of objects in a database. through a touch screen and an appropriate software interface, the user selects the person to be tracked. Based on this selection, the system builds an internal human body representation, consisting of three
image regions that correspond to the head, torso and legs of the person to be tracked. In subsequent image frames, a window is defined, in
which the above mentioned regions are searched for. This is done by comparing the color histograms of a reference model
to every possible location in the search window. The locations of several of the best matches for each one of the model regions are stored.
Navigation Behaviors:
The main navigation capabilities implemented are the motion towards a desired direction which is specified by the user using a touch screen or voice commands, the motion in the middle of the free space defined by obstacles or environment.
The Experimental Prototype:
The main hardware components of the robotic wheelchair are:
-The power wheelchair:
-The sensors:
-The computer system:
composed of a portable computer and of a set of 5 PIC microcontrollers interconnected by a
CAN network. The portable computer processes the vision data and communicates with the user through the appropriate
software interfaces. Among the microcontrollers, one is dedicated to the communication with the portable computer and
with the wheelchair control unit through serial ports, three are dedicated to controlling the sonars and to receiving and
processing their data and one to receiving and processing odometry data.
refer:
[attachment=2629]