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Abstract:
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.