Vector Fields Autonomous Control for Assistive Mobile Robots
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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Proceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024. ed. / Andrzej Kot. Institute of Electrical and Electronics Engineers Inc., 2024. (Proceedings of the 2024 25th International Carpathian Control Conference, ICCC 2024).
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
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RIS
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 - Publisher Copyright: ©2024 IEEE.
PY - 2024
Y1 - 2024
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
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 -