Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model

Journal of Robotics, Networking and Artificial Life Volume 4 Issue 1 Page 45-48 published_at 2017-05
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Title ( eng )
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
Creator
Kokubo Haruna
Shibanoki Taro
Chin Takaaki
Source Title
Journal of Robotics, Networking and Artificial Life
Volume 4
Issue 1
Start Page 45
End Page 48
Abstract
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.
Keywords
obstacle avoidance
non-contact impedance
electric wheelchairs
people with disabilities
Descriptions
This work was supported by JSPS KAKENHI Grant Number JP26330226.
Language
eng
Resource Type journal article
Publisher
Atlantis Press
Date of Issued 2017-05
Rights
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/).
Publish Type Version of Record
Access Rights open access
Source Identifier
[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