Automatic path generation and reactive behavior for a wheel chair

Author

Cardoso Bissoli, Alexandre Luis ; de Lima, Luis Eduardo Martins ; Ardizzon Lovatte, Marcelo

Author_Institution

Dept. of Electr. Eng., Inst. Fed. do Espirito Santo, Vitoria, Brazil

fYear

2013

fDate

4-7 Aug. 2013

Firstpage

525

Lastpage

532

Abstract

A method for automatic definition of coefficients of third order parametric polynomials for determining an optimal path for a robotic wheelchair with a differential drive locomotion system (non-holonomic) is presented in this article. There is integrated, in this method of automatic definition, a solution, using fuzzy inference, for avoidance of obstacles; which is effected by generating reactive behavior.

Keywords

collision avoidance; drives; fuzzy reasoning; handicapped aids; medical robotics; mobile robots; polynomials; automatic coefficient definition; automatic definition method; automatic path generation; differential drive locomotion system; fuzzy inference; obstacle avoidance; reactive behavior; robotic wheelchair; third order parametric polynomials; Fuzzy logic; Mathematical model; Mobile robots; Polynomials; Wheelchairs; Parametric polynomials; differential-drive; fuzzy inference; non-holonomic system; reactive behavior; wheelchair;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2013 IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4673-5557-5

Type

conf

DOI

10.1109/ICMA.2013.6617972

Filename

6617972