| Title: | GS1-1 Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 460-463 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.GS1-1 |
| Author(s): | Haruna Kokubo, Taro Shibanoki, Takaaki Chin, Toshio Tsuji |
| Publication Date: | January 19, 2017 |
| 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. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around the robot. 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. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS1/GS1-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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