Towards provably safe control for smart wheelchairs

Meeko Oishi, Nikolai Matni

We propose verification techniques from hybrid control theory to address safety issues in the indoor operation of powered wheelchairs. Verification through hybrid system reachability can provide a mathematical guarantee of safety, where safety is defined as the ability of the system to remain within a desired subset of the state-space. Current efforts are in developing a general algorithm for verification in semi-automated systems, general methods for implementation of control laws for safety, and in the development of an instrumented smart wheelchair testbed at UBC.

Submitted: Sep 11, 2008