Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
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DOI：
10.2991/jrnal.2017.4.1.10
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发表时间：
2017-01
期刊：
影响因子：
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通讯作者：
Haruna Kokubo;T. Shibanoki;T. Chin;T. Tsuji
中科院分区：
文献类型：
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作者：
Haruna Kokubo;T. Shibanoki;T. Chin;T. Tsuji
提出了一种基于多层非接触阻抗模型的避障方法。所提出的系统可以计算虚拟排斥力碰撞前的多层阻抗场覆盖在机器人周围。因此，该系统在各种情况下调节期望的路径以避开障碍物。在实验中，移动的机器人顺利通过障碍物，并可以紧急停止，以避免在机器人前面的障碍物由于所提出的模型计算的虚拟力。
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.