Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
- 10.2991/jrnal.2017.4.1.10How to use a DOI?
- obstacle avoidance, non-contact impedance, electric wheelchairs, people with disabilities
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.
- © 2013, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Haruna Kokubo AU - Taro Shibanoki AU - Takaaki Chin AU - Toshio Tsuji PY - 2017 DA - 2017/06/01 TI - Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model JO - Journal of Robotics, Networking and Artificial Life SP - 45 EP - 48 VL - 4 IS - 1 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.2017.4.1.10 DO - 10.2991/jrnal.2017.4.1.10 ID - Kokubo2017 ER -