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

DOI

10.2991/jrnal.2017.4.1.10How to use a DOI?

Keywords

obstacle avoidance, non-contact impedance, electric wheelchairs, people with disabilities

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.

Copyright

© 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/).

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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  -