THE NAVIGATION ASSISTANCE SYSTEM FOR iWHEELCHAIRII
With more and more robot research applications applied to peoples daily life, the research of intelligent wheelchair, which is a kind of home welfare tools and can help the handicapped and elderly people to obtain more independent space, begins to call attention from both scientific researchers and industry. How to navigate the wheelchair safely and neatly is always the most important thing to care for. This paper describes the navigation system for iWheelchairll. The system adopts embedded techniques to provide a high performance. A new APF method combined with RFS (Relevant Fire Strategy) is developed for the navigation. Experiments are present to show that the navigation system works well in avoiding obstacles autonomously while controlled by the user via joystick.
Intelligent wheelchair RFS (Relevant Fire Strategy) APF (Artificial Potential Field) Obstacle avoidance.
Lai Wei Tao Lu H S Hu M Wu
University of Essex, UK Institute of Automation Chinese Academy of Sciences, China University of Derby, UK
国际会议
5th International Conference on e-Engineering & Digital Enterprise Technology(第5届e工程及数字企业国际学术会议)
贵阳
英文
304-309
2006-08-16（万方平台首次上网日期，不代表论文的发表时间）