Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory
Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory
复制标题
基于最小加加速度轨迹的新型助力轮椅驱动控制
DOI：
10.1541/ieejeiss.125.1133
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发表时间：
2005
影响因子：
--
通讯作者：
S. Tadakuma
中科院分区：
文献类型：
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作者：
H. Seki;T. Sugimoto;S. Tadakuma
本文描述了一种新型的电力辅助轮椅轨迹控制方案。人体输入扭矩图案总是间歇性的，在动力辅助轮椅上，在人类减少其输入扭矩后，也必须生成合适的轨迹。本文试图根据最小化加速度变化速率的最小混蛋模型来解决这一重大问题。提出的基于最小混蛋轨迹的控制系统有望提高乘车质量，稳定性和安全性。一些实验显示了所提出的方法的有效性。
This paper describes a novel trajectory control scheme for power assisted wheelchair. Human input torque patterns are always intermittent in power assisted wheelchairs, therefore, the suitable trajectories must be generated also after the human decreases his/her input torque. This paper tries to solve this significant problem based on minimum jerk model minimizing the changing rate of acceleration. The proposed control system based on minimum jerk trajectory is expected to improve the ride quality, stability and safety. Some experiments show the effectiveness of the proposed method.
考虑驾驶员命令变化的电动汽车实时智能速度模式生成器
DOI：
--
发表时间：
2007
期刊：
WEVA (WOrld Electric Vehicle Association) Journal 1(CDROM)
影响因子：
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作者：
Yu Ogura;Atsuo Takankishi et al.;Li Zhao and Yoichi Hori
通讯作者：
Li Zhao and Yoichi Hori