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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
