A Dynamic Localized Adjustable Force Field Method for Real-time Assistive Non-holonomic Mobile Robotics

Gillham, Michael, Howells, Gareth (2015) A Dynamic Localized Adjustable Force Field Method for Real-time Assistive Non-holonomic Mobile Robotics. International Journal of Advanced Robotic Systems, . p. 1. ISSN 1729-8806. (doi:10.5772/61190)

Abstract

Providing an assistive navigation system that augments rather than usurps user control of a powered wheelchair represents a significant technical challenge. This paper evaluates an assistive collision avoidance method for a powered wheelchair that allows the user to navigate safely whilst maintaining their overall governance of the platform motion. The paper shows that by shaping, switching and adjusting localized potential fields we are able to negotiate different obstacles by generating a more intuitively natural trajectory, one that does not deviate significantly from the operator in the loop desired-trajectory. It can also be seen that this method does not suffer from the local minima problem, or narrow corridor and proximity oscillation, which are common problems that occur when using potential fields. Furthermore this localized method enables the robotic platform to pass very close to obstacles, such as when negotiating a narrow passage or doorway.

Item Type: Article
DOI/Identification number: 10.5772/61190
Uncontrolled keywords: Smart Assistive Powered Wheelchair, Mobile Robotics, Real-time Navigation, Dynamic, Localized Adjustable Potential Force Fields
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics (see also: telecommunications) > TK7880 Applications of electronics (inc industrial & domestic) > TK7885 Computer engineering
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800 Electronics (see also: telecommunications) > TK7880 Applications of electronics (inc industrial & domestic) > TK7895.E42 Embedded Systems
Divisions: Faculties > Sciences > School of Engineering and Digital Arts
Faculties > Sciences > School of Engineering and Digital Arts > Instrumentation, Control and Embedded Systems
Depositing User: Michael Gillham
Date Deposited: 06 Nov 2015 13:36 UTC
Last Modified: 29 May 2019 16:17 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/51521 (The current URI for this page, for reference purposes)
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