Earticle

초록

영어

The process of evaluating a built environment for accessibility is known as “accessibility assessment.” Determining accessibility is closely related to the problem of determining possible motions of a specific kinematic structure – given an environment and a mobile device, how much of the environment is accessible? Given these similarities, here the accessibility assessment process is reformulated as a motion planning problem. Rather than treating each of the degrees of freedom ‘equally’ while planning, we explore a hierarchical characteristic of all of the degrees of freedom when constructing the roadmap. The approach is demonstrated on simulated environments as well as on a student residence at York University.

목차

Abstract
 1. Introduction
 2. Traditional accessibility assessment and existing tools
 3. Formal statement of the problem
 4. Hierarchical probabilistic roadmap method
  4.1. Hierarchical probabilistic roadmaps
  4.2. Construction of the hierarchical probabilistic roadmap
  4.3. An example
 5. A practical assessment
  5.1. Experimental setup
  5.2. Implementation details
  5.3. Reachable workspace estimation
 6. Summary and future work
 References

저자

• Jing Yang [ Department of Computer Science and Engineering York University, Toronto, Canada ]
• Patrick Dymond [ Department of Computer Science and Engineering York University, Toronto, Canada ]
• Michael Jenkin [ Department of Computer Science and Engineering York University, Toronto, Canada ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Smart Home

• 간기

  격월간

• pISSN

  1975-4094

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605