Title :
Non-holonomic navigation system of a walking-aid robot
Author :
Wandosell, José Manuel Hostalet ; Graf, Birgit
Author_Institution :
Fraunhofer Inst. for Manuf. Eng. & Autom., Germany
Abstract :
This work presents a navigation method for a nonholonomic robot. The robot is used as a walking assistant with a person following to a specific target. During motion the user may modify the path computed by the robot. The method is based on a new model of "elastic bands" considering the requirements of a car-like robot moving only forward (Dubin\´s model).
Keywords :
computerised navigation; handicapped aids; medical robotics; mobile robots; path planning; Care-O-bot; Dubin model; car-like robot; dynamic obstacle avoidance; elastic band model; nonholonomic navigation system; nonholonomic robot; path planner; walking assistant; walking-aid robot; Hardware; Joining processes; Legged locomotion; Manufacturing automation; Mobile robots; Navigation; Orbital robotics; Path planning; Prototypes; Robotics and automation;
Conference_Titel :
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN :
0-7803-7545-9
DOI :
10.1109/ROMAN.2002.1045674
