MobiPAD
Shared Control and Cooperative Navigation of Smart Wheelchairs in Complex Environments.
This project aims to study the coordinated management of a fleet of smart wheelchairs, taking into account user intent, sensor uncertainty, and human-machine interaction.
Against the backdrop of an aging population and a growing need for independence among people with limited mobility (PLM), this project aims to improve mobility assisted by electric wheelchairs (EWCs).
The goal is to design safe and intelligent navigation systems based on shared control and cooperation among multiple electric wheelchairs in complex environments such as nursing homes.
This project aims to study the coordinated management of an electric wheelchair fleet, taking into account user intent, sensor uncertainty, and human-machine interaction.
Concrete use cases will be defined with partner institutions, notably the Feron Vrau nursing homes and the Label Age Living Lab at the Valenciennes Hospital Center.
The main scientific challenges to be addressed in connection with this project:
- Modeling the dynamics of fleet interactions using a System of Systems (SdS) approach
- Implementing an optimal control strategy for the electric wheelchair fleet to ensure safety and comfort
- Developing state observers and predictors to forecast the intentions of electric wheelchair users while accounting for uncertainties
- Designing cooperative control laws tailored to the user’s sensorimotor capabilities, using multi-model control techniques
- Planning trajectories that incorporate obstacle avoidance while considering user comfort and functions for risk management and goal conflicts
| Department(s) | Partner(s) | Total Amount |
|---|---|---|
| Automatic |
264 k€
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| Main Support | Reach | Date(s) |
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EURO-TELL, France 2030 – National Research Agency (ANR-22-EXES-0006), with support from the European Union (NextGenerationEU)
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Regional |
2026 - 2029
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