A.S. Al Yahmadi, A.B. El-Tahir El-Dirdiri, and T. Pervez (Oman)
Guidecane, Behavior Based Navigation, Fuzzy Logic,Mobile Robots.
This paper presents a navigational approach that is intended to eventually be used in a GuideCane device.This is a device to help blind or visually impaired users to navigate safely and quickly among obstacles and other hazards. During operation, the user will be pushing the lightweight GuideCane forward. When the GuideCane’s sensors detect an obstacle, a suitable direction of motion is decided that steers the GuideCane and the user around the obstacle. The ability to navigate autonomously, avoiding modelled and un-modelled obstacles especially in crowded and unpredictably changing environment is a challenging issue in the design of a travel aid for the blind. A successful way of structuring the navigation task in order to deal with the problem is within behavior based navigation approaches. The approach constitutes a new method for behaviour coordination that suits the utilization of mobile robots in blind aid application. In addition to that a multi-structure controller was employed to enhance the overall navigation process. The behaviour coordination in our case is based on a reactive approach inspired by the Bug algorithm.
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