DocumentCode
2425881
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
fYear
2002
fDate
2002
Firstpage
518
Lastpage
523
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN
0-7803-7545-9
Type
conf
DOI
10.1109/ROMAN.2002.1045674
Filename
1045674
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