Multi-modal control framework for a semi-autonomous wheelchair using modular sensor designs

作者：Sinyukov Dmitry^*; Desmond Ross; Dickerman Matthew; Fleming James; Schaufeld Jerome; Padir Taskin

来源：Intelligent Service Robotics, 2014, 7(3): 145-155.

DOI：10.1007/s11370-014-0149-7

• Assisted control
• Adaptive control
• Modular design
• Semi-autonomous navigation

This paper presents the hardware and software control framework for a semi-auton omous wheelchair. The hardware design incorporates modular and reconfigurable sensors and corresponding low-level software architecture. Two control schemes are discussed. Assisted control that augments the user inputs by providing functionalities such as obstacle avoidance and wall following. And, semi-autonomous navigation which takes higher level destination goals and executes a simultaneous localization and mapping algorithm. We also propose an adaptive motion control with a online parameter estimation. The paper presents both experimental and simulation results.

• 出版日期2014-7