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This project deals with technical assistance for people of reduced mobility. The goal of this work is to have a mobile platform with an embedded prehensive arm (MANUS ® ) track a wheelchair. The use of this mobile unit in relation to the patient’s wheelchair is carried out on a master-slave basis. This study, therefore, has a plural-disciplinary nature: Science for the Engineer, Human, Social and Clinical Sciences. To ensure the tracking of the wheelchair by the mobile platform, we applied a stereo bearings-only tracking (BOT) paradigm to a single moving target. The observer, the mobile platform (robot), is equipped with two omnidirectional vision sensors, that each provides output with which we compute two bearing angles. Having two bearing angles makes it possible to track a manoeuvring target. In this paper we will show how we take advantage of the multi-sensor data fusion to improve the BOT process and hence obtain a more reliable wheelchair tracking.

Stereo bearings-only tracking of a wheelchair from a robot