Title :
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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4673-5557-5
DOI :
10.1109/ICMA.2013.6617972
