Action Control based on Input Commands and Environment Recognition for Smart Wheelchairs Controlled by Low Operability Devices
Action Control based on Input Commands and Environment Recognition for Smart Wheelchairs Controlled by Low Operability Devices
复制标题
基于输入命令和环境识别的低可操作性设备控制智能轮椅的动作控制
DOI：
10.7210/jrsj.31.107
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Masaki Takahashi
中科院分区：
文献类型：
--
作者：
Yu Ishihara;Masaki Takahashi
电动轮椅是残疾人常用的一种活动方式。最近，为了提高电动轮椅的安全性和效率，人们提出了各种带有控制辅助的系统。然而，大多数系统假设操纵杆是输入设备，并没有考虑到有diffi崇拜的人使用它。与操纵杆相比，并非所有替代操纵杆的设备都有足够的可操作性。本文以轮椅走廊通行为验证环境，提出了一种对可操作性较低的设备控制的轮椅安全、科学地通过走廊的动作控制方法。为了实现安全、高效的驾驶，该方法考虑了乘客S的输入指令，并结合环境信息为轮椅而不是乘客选择了正确的ffi方向和速度。此外，在环境识别方面，还提出了走廊检测算法。为了验证所提方法的ff有效性，进行了多个仿真和实验。
Powered wheelchair is a mobility commonly used for people with disabilities. Recently, to improve the safety and efficiency of powered wheelchairs, various systems with control assistance are proposed. However most of the systems suppose joystick as input device and doesn ’ t consider about people with difficulties using it. Not all devices alternative to joystick have enough operability compared to joystick. In this paper, considering corridor passing as verification environment, an action control method to drive through the corridor safely and efficiently for wheelchairs controlled by devices with low operability is presented. To achieve safe and efficient driving, proposed method considers the passenger ’ s input commands and combines the environmental information to select effective direction and speed for the wheelchair instead of passenger. Moreover for environment recognition, corridor detection algorithm is also proposed. To verify the effectiveness of proposed method, several simulations and experiments were carried out.
DOI：
--
发表时间：
2007
期刊：
影响因子：
--
作者：
Takeshi Saitoh;Noriyuki Takahashi;Ryosuke Konishi
通讯作者：
Ryosuke Konishi