TY - CHAP

T1 - Vector Fields Autonomous Control for Assistive Mobile Robots

AU - Olivi, Leonardo Rocha

AU - Neto, Wolmar Araújo

AU - Costa, Exuperry Barros

AU - dos Santos, Murillo Ferreira

AU - Mercorelli, Paolo

AU - Cardozo, Eleri

N1 - Conference code: 25

PY - 2024/5/22

Y1 - 2024/5/22

N2 - 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.

AB - 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.

KW - Assistive Technologies

KW - Autonomous Control

KW - Mobile Robotics

KW - Vector Fields

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85198557662&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/36c0712f-34dd-37e7-9b79-c22408e613b3/

U2 - 10.1109/ICCC62069.2024.10569539

DO - 10.1109/ICCC62069.2024.10569539

M3 - Article in conference proceedings

AN - SCOPUS:85198557662

SN - 979-8-3503-5071-5

T3 - Proceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024

BT - Proceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024

A2 - Kot, Andrzej

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 25th International Carpathian Control Conference - ICCC 2024

Y2 - 22 May 2024 through 24 May 2024

ER -