Vector Fields Autonomous Control for Assistive Mobile Robots

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024
EditorsAndrzej Kot
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date22.05.2024
ISBN (print)979-8-3503-5071-5
ISBN (electronic)979-8-3503-5069-2, 979-8-3503-5070-8
DOIs
Publication statusPublished - 22.05.2024
Event25th International Carpathian Control Conference - ICCC 2024 - Hotel Krynica****, Krynica Zdroj, Poland
Duration: 22.05.202424.05.2024
Conference number: 25
https://iccc.agh.edu.pl/#top

Bibliographical note

Publisher Copyright:
©2024 IEEE.

    Research areas

  • Assistive Technologies, Autonomous Control, Mobile Robotics, Vector Fields
  • Engineering

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