Authors
Haruna Kokubo, Taro Shibanoki, Takaaki Chin, Toshio Tsuji
Corresponding Author
Haruna Kokubo
Available Online 1 June 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.1.10How to use a DOI?
Keywords
obstacle avoidance, non-contact impedance, electric wheelchairs, people with disabilities
Abstract
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.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).