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Trajectory Development and Localisation

Michael GillhamUniversity of Kent

27/01/2012Centrale Lille

Part-financed by the European Regional Development Fund

2Part-financed by the

European Regional Development

Fund

Objectives summary

• Real time mobile processing.• Human assistance to autonomy.• Localisation.• Path planning, A to B.• Navigation (obstacles).• Manoeuvrings.

3Part-financed by the

European Regional Development

Fund

Criteria summary

• Locating at desk/table• Through doorways• Narrow passage ways• Reversing• Avoiding collisions• Smooth interpretation of inputs• Dynamic environment adaption

• Non invasive assistance.• Positive assistance.• Extension of users abilities.

4Part-financed by the

European Regional Development

Fund

Localisation

Current research proved room geometry can be used for localisation however it required an a lot of mapping data

Real time processing?

5Part-financed by the

European Regional Development

Fund

Localisation

6Part-financed by the

European Regional Development

Fund

Localisation

• Floor colour• Floor texture

7Part-financed by the

European Regional Development

Fund

Orientation

8Part-financed by the

European Regional Development

Fund

Biological Trajectory Concept!

9Part-financed by the

European Regional Development

Fund

Goal; peg in the hole!Sensor feedback

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Thank you, any questions

Michael GillhamUniversity of Kent

27/01/2012Centrale Lille

Part-financed by the European Regional Development Fund