Advanced Obstacle Avoidance for a Laser-based Wheelchair using Optimised Bayesian Neural Networks

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dc.contributor.author Trieu, Tuyen en_US
dc.contributor.author Nguyen, Hung en_US
dc.contributor.author Willey, Keith en_US
dc.contributor.editor Dumont, Guy; Galiana, H. en_US
dc.date.accessioned 2010-05-28T10:01:12Z
dc.date.available 2010-05-28T10:01:12Z
dc.date.issued 2008 en_US
dc.identifier 2008001789 en_US
dc.identifier.citation Trieu Tuyen, Nguyen Hung, and Willey Keith 2008, 'Advanced Obstacle Avoidance for a Laser-based Wheelchair using Optimised Bayesian Neural Networks', IEEE, Vancouver, Canada, pp. 3463-3466. en_US
dc.identifier.issn 978-1-4244-1815-2 en_US
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/11010
dc.description.abstract In this paper we present an advanced method of obstacle avoidance for a laser based intelligent wheelchair using optimized Bayesian neural networks. Three neural networks are designed for three separate sub-tasks: passing through a door way, corridor and wall following and general obstacle avoidance. The accurate usable accessible space is determined by including the actual wheelchair dimensions in a real-time map used as inputs to each networks. Data acquisitions are performed separately to collect the patterns required for specified sub-tasks. Bayesian frame work is used to determine the optimal neural network structure in each case. Then these networks are trained under the supervision of Bayesian rule. Experiment results showed that compare to the VFH algorithm our neural networks navigated a smoother path following a near optimum trajectory. en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version en_US
dc.relation.isbasedon http://dx.doi.org/10.1109/IEMBS.2008.4649951 en_US
dc.title Advanced Obstacle Avoidance for a Laser-based Wheelchair using Optimised Bayesian Neural Networks en_US
dc.parent Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation Vancouver, Canada en_US
dc.identifier.startpage 3463 en_US
dc.identifier.endpage 3466 en_US
dc.cauo.name FEIT.School of Systems, Management and Leadership en_US
dc.conference Verified OK en_US
dc.for 090300 en_US
dc.personcode 10497170 en_US
dc.personcode 840115 en_US
dc.personcode 995679 en_US
dc.percentage 100 en_US
dc.classification.name Biomedical Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE Engineering in Medicine and Biology Society Annual Conference en_US
dc.date.activity 20080820 en_US
dc.location.activity Vancouver, Canada en_US
dc.description.keywords Bayesian neural networks, power wheelchair, laser, obstacle avoidance en_US
dc.staffid en_US
dc.staffid 995679 en_US


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