Driving Assist Control of Wheeled Inverted Pendulum Wheelchair Using an Active Seat-Slider
Driving Assist Control of Wheeled Inverted Pendulum Wheelchair Using an Active Seat-Slider
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DOI：
10.23919/iccas47443.2019.8971752
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发表时间：
2019-10
期刊：
影响因子：
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通讯作者：
Seonghee Jeong;Naoki Maeda;Kazuki Kozai
中科院分区：
文献类型：
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作者：
Seonghee Jeong;Naoki Maeda;Kazuki Kozai
对于轮式倒立摆（倒立摆）轮椅，乘坐者以坐姿操作它，并且仅通过围绕腰部旋转上半身来实现重量转移运动。这导致轮椅的加速和减速能力下降，并且当轮椅在加速和减速时前后倾斜时，骑车人感到焦虑。为了科普这些问题，本文提出了一种具有自动CoG移动装置和制动系统的轮椅。所提出的轮椅在加速和减速时优先减小其倾斜角度。这可以通过利用所实现的电动滑块自动移动骑乘者来实现。自动停止功能通过控制滑块来实现，使得当到障碍物的距离比预定阈值距离更近时，轮椅可以停止而不管操纵杆操作。通过加速实验和自动停车实验验证了所提出的驾驶辅助功能的有效性。
For wheeled inverted pendulum (WIP) wheelchairs, a rider operates it in a sitting posture and a weight-shifting motion is achieved by only rotating an upper-body around a waist. This causes a drop of acceleration and deceleration ability of the wheelchairs, as more, a rider feels anxious when the wheelchair inclines back and forth while accelerating and decelerating. To cope these issues, in this paper, a WIP wheelchair with an automatic CoG moving device and a braking system is proposed. The proposed WIP wheelchair has priority in reducing its tilt angle while accelerating and decelerating. This can be realized by automatically moving a rider with an implemented electric slider. The automatic-stop function is realized by controlling the slider so that the wheelchair can stop regardless of a joystick operation when a distance to an obstacle is closer than a predefined threshold distance. The effectiveness of the proposed driving assist functions were confirmed through accelerating experiments and an automatic-stop experiment.