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Vector Fields Autonomous Control for Assistive Mobile Robots

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet

Authors

  • Leonardo Rocha Olivi
  • Wolmar Araújo Neto
  • Exuperry Barros Costa
  • Murillo Ferreira dos Santos
  • Paolo Mercorelli
  • Eleri Cardozo

This study introduces an innovative autonomous control system for assistive mobile robots, focusing on users with significant physical disabilities. Leveraging vector fields and a modified A* algorithm, the system enhances the traditional approach to robotic wheelchair navigation. The methodology emphasizes autonomous navigation in familiar environments, integrating advanced Human-Machine Interfaces (HMIs) for user interaction and control. Experimental analysis demonstrates the system’s superiority over conventional Proportional, Integral and Derivative (PID) controllers in terms of safety, adaptability, and user comfort. The solution effectively addresses the challenges of map maintenance, route planning, and dynamic obstacle avoidance, marking a significant advancement in assistive robotics.

OriginalspracheEnglisch
TitelProceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024
HerausgeberAndrzej Kot
Anzahl der Seiten6
VerlagInstitute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum22.05.2024
ISBN (Print)979-8-3503-5071-5
ISBN (elektronisch)979-8-3503-5069-2, 979-8-3503-5070-8
DOIs
PublikationsstatusErschienen - 22.05.2024
Veranstaltung25th International Carpathian Control Conference - ICCC 2024 - Hotel Krynica****, Krynica Zdroj, Polen
Dauer: 22.05.2024 → 24.05.2024
Konferenznummer: 25
https://iccc.agh.edu.pl/#top

Bibliographische Notiz

Publisher Copyright:
©2024 IEEE.

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