Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
Journal of Robotics, Networking and Artificial Life 4 巻 1 号
45-48 頁
2017-05 発行
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この文献の参照には次のURLをご利用ください : https://ir.lib.hiroshima-u.ac.jp/00048702
| ファイル情報(添付) | |
| タイトル ( eng ) |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
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| 作成者 |
Kokubo Haruna
Shibanoki Taro
Chin Takaaki
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| 収録物名 |
Journal of Robotics, Networking and Artificial Life
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| 巻 | 4 |
| 号 | 1 |
| 開始ページ | 45 |
| 終了ページ | 48 |
| 抄録 |
This paper proposes an obstacle avoidance method based on a multi-layered non-contact impedance model for control of the biosignal-based electric wheelchair. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around it. This system therefore regulates desired path to avoid obstacles in a variety of situations. In the experiments, the mobile robot passed through obstacles smoothly, and could stop emergently to avoid the obstacle in front of the robot owing to virtual forces calculated by the proposed model.
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| 著者キーワード |
obstacle avoidance
non-contact impedance
electric wheelchairs
people with disabilities
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| 内容記述 |
This work was supported by JSPS KAKENHI Grant Number JP26330226.
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
Atlantis Press
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| 発行日 | 2017-05 |
| 権利情報 |
Copyright © 2017, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
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| 出版タイプ | Version of Record（出版社版。早期公開を含む） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[ISSN] 2405-9021
[ISSN] 2352-6386
[DOI] 10.2991/jrnal.2017.4.1.10
[DOI] https://doi.org/10.2991/jrnal.2017.4.1.10
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