Multi-modal control framework for a semi-autonomous wheelchair using modular sensor designs

被引：18

作者：

Sinyukov, Dmitry ^{[1
]}

Desmond, Ross ^{[1
]}

Dickerman, Matthew ^{[1
]}

Fleming, James ^{[1
]}

Schaufeld, Jerome ^{[1
]}

Padir, Taskin ^{[1
]}

机构：

[1] Worcester Polytech Inst, Worcester, MA 01609 USA

来源：

INTELLIGENT SERVICE ROBOTICS | 2014年 / 7卷 / 03期

基金：

美国国家科学基金会;

关键词：

Assisted control; Adaptive control; Modular design; Semi-autonomous navigation;

D O I：

10.1007/s11370-014-0149-7

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the hardware and software control framework for a semi-auton omous wheelchair. The hardware design incorporates modular and reconfigurable sensors and corresponding low-level software architecture. Two control schemes are discussed. Assisted control that augments the user inputs by providing functionalities such as obstacle avoidance and wall following. And, semi-autonomous navigation which takes higher level destination goals and executes a simultaneous localization and mapping algorithm. We also propose an adaptive motion control with a online parameter estimation. The paper presents both experimental and simulation results.

引用

页码：145 / 155

页数：11

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