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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| File | |
| Title ( eng ) |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
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| Creator |
Kokubo Haruna
Shibanoki Taro
Chin Takaaki
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| Source Title |
Journal of Robotics, Networking and Artificial Life
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| 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.
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| Keywords |
obstacle avoidance
non-contact impedance
electric wheelchairs
people with disabilities
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| Descriptions |
This work was supported by JSPS KAKENHI Grant Number JP26330226.
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| Language |
eng
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| Resource Type | journal article |
| Publisher |
Atlantis Press
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| 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/).
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| 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
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