Robot-Assisted Navigation for a Robotic Walker with Aided User Intent

Abstract

This paper presents an approach to robot-assisted navigation on a mobility assistance context, by learning from the user while helping him navigate efficiently and safely in complex environments. Assistive robots such as robotic walkers provide the ability to support a user's body weight on the upper limbs while walking. However, walkers can add an extra layer of distress due to their specific manipulation constraints. For the users of such devices, lack of dexterous upper limb control can be a considerable problem as it means they may be unable to operate these devices efficiently; users may also have visual impairments that reduce their navigational efficiency. The proposed approach uses a Reinforcement Learning (RL) model and a dynamic window-based local motion planning algorithm. It aims to learn needed corrections in the motion command based on the surrounding environment and the user's intent. The proposed solution handles corrections and guides the user through the environment without collisions while learning and aiding the user when he is unable to operate the device efficiently. The RL based approach was tested in indoor scenarios with a robotic walker platform showing preliminary promising results.