Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model
This paper proposes an obstacle avoidance method based on a multi-layered non-contact impedance model for control of the biosignal-based electric wheelchair. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around it. This sys...
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Atlantis Press
2017-05-01
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Online Access: | https://www.atlantis-press.com/article/25878341.pdf |
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doaj-4931ff04a0d144dbab80fd515d5b4f472020-11-25T02:28:18ZengAtlantis PressJournal of Robotics, Networking and Artificial Life (JRNAL)2352-63862017-05-014110.2991/jrnal.2017.4.1.10Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance ModelHaruna KokuboTaro ShibanokiTakaaki ChinToshio TsujiThis paper proposes an obstacle avoidance method based on a multi-layered non-contact impedance model for control of the biosignal-based electric wheelchair. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around it. 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.https://www.atlantis-press.com/article/25878341.pdfobstacle avoidancenon-contact impedanceelectric wheelchairspeople with disabilities |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Haruna Kokubo Taro Shibanoki Takaaki Chin Toshio Tsuji |
spellingShingle |
Haruna Kokubo Taro Shibanoki Takaaki Chin Toshio Tsuji Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model Journal of Robotics, Networking and Artificial Life (JRNAL) obstacle avoidance non-contact impedance electric wheelchairs people with disabilities |
author_facet |
Haruna Kokubo Taro Shibanoki Takaaki Chin Toshio Tsuji |
author_sort |
Haruna Kokubo |
title |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model |
title_short |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model |
title_full |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model |
title_fullStr |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model |
title_full_unstemmed |
Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model |
title_sort |
obstacle avoidance method for electric wheelchairs based on a multi-layered non-contact impedance model |
publisher |
Atlantis Press |
series |
Journal of Robotics, Networking and Artificial Life (JRNAL) |
issn |
2352-6386 |
publishDate |
2017-05-01 |
description |
This paper proposes an obstacle avoidance method based on a multi-layered non-contact impedance model for control of the biosignal-based electric wheelchair. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around it. 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. |
topic |
obstacle avoidance non-contact impedance electric wheelchairs people with disabilities |
url |
https://www.atlantis-press.com/article/25878341.pdf |
work_keys_str_mv |
AT harunakokubo obstacleavoidancemethodforelectricwheelchairsbasedonamultilayerednoncontactimpedancemodel AT taroshibanoki obstacleavoidancemethodforelectricwheelchairsbasedonamultilayerednoncontactimpedancemodel AT takaakichin obstacleavoidancemethodforelectricwheelchairsbasedonamultilayerednoncontactimpedancemodel AT toshiotsuji obstacleavoidancemethodforelectricwheelchairsbasedonamultilayerednoncontactimpedancemodel |
_version_ |
1724839141128011776 |