Enhancing the Obstacle Avoidance Capabilities of a Smart Wheelchair

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F22%3APU147629" target="_blank" >RIV/00216305:26210/22:PU147629 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore-ieee-org.ezproxy.lib.vutbr.cz/stamp/stamp.jsp?tp=&arnumber=9983446" target="_blank" >https://ieeexplore-ieee-org.ezproxy.lib.vutbr.cz/stamp/stamp.jsp?tp=&arnumber=9983446</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ME54704.2022.9983446" target="_blank" >10.1109/ME54704.2022.9983446</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Enhancing the Obstacle Avoidance Capabilities of a Smart Wheelchair

Popis výsledku v původním jazyce

Smart Wheelchairs (SWC) are vehicles designed specifically for people with certain mobility impairments to alleviate their difficulties in movement and interaction with their surroundings. In this paper, we focus on enhancing the obstacle avoidance capabilities of a SWC previously built at the University of Malta and also propose novel algorithms that can be employed on any other autonomous mobile robot. The improvements include the design, implementation and experimental validation of a novel path planner developed specifically for semi-autonomous movement. In this control mode, the only user input is the desired direction of movement. Our approach combines and improves elements of the Vector Field Histogram + (VFH+) and Dynamic Window Approach (DWA) algorithms. Simulations and physical experiments are used to validate and compare the proposed algorithm. To complement the obstacle avoidance capabilities of the local path planner, a new geometrical method is also presented for the detection of negative obstacles, such as holes and stairs.

Název v anglickém jazyce

Enhancing the Obstacle Avoidance Capabilities of a Smart Wheelchair

Popis výsledku anglicky

Smart Wheelchairs (SWC) are vehicles designed specifically for people with certain mobility impairments to alleviate their difficulties in movement and interaction with their surroundings. In this paper, we focus on enhancing the obstacle avoidance capabilities of a SWC previously built at the University of Malta and also propose novel algorithms that can be employed on any other autonomous mobile robot. The improvements include the design, implementation and experimental validation of a novel path planner developed specifically for semi-autonomous movement. In this control mode, the only user input is the desired direction of movement. Our approach combines and improves elements of the Vector Field Histogram + (VFH+) and Dynamic Window Approach (DWA) algorithms. Simulations and physical experiments are used to validate and compare the proposed algorithm. To complement the obstacle avoidance capabilities of the local path planner, a new geometrical method is also presented for the detection of negative obstacles, such as holes and stairs.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 2022 20th International Conference on Mechatronics - Mechatronika (ME)

ISBN

978-1-6654-1040-3

ISSN

—

e-ISSN

—

Počet stran výsledku

7

Strana od-do

„“-„“

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

Plzeň

Místo konání akce

Pilsen

Datum konání akce

7. 12. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000947331700060