Automatic path generation and reactive behavior for a wheel chair

A method for automatic definition of coefficients of third order parametric polynomials for determining an optimal path for a robotic wheelchair with a differential drive locomotion system (non-holonomic) is presented in this article. There is integrated, in this method of automatic definition, a so...

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Bibliographic Details
Main Authors: Cardoso Bissoli, Alexandre Luis, de Lima, Luis Eduardo Martins, Ardizzon Lovatte, Marcelo
Format: Conference Proceeding
Language:English
Subjects:
differential-drive
fuzzy inference
Fuzzy logic
Mathematical model
Mobile robots
non-holonomic system
Parametric polynomials
Polynomials
reactive behavior
wheelchair
Wheelchairs
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Summary:A method for automatic definition of coefficients of third order parametric polynomials for determining an optimal path for a robotic wheelchair with a differential drive locomotion system (non-holonomic) is presented in this article. There is integrated, in this method of automatic definition, a solution, using fuzzy inference, for avoidance of obstacles; which is effected by generating reactive behavior.
ISSN:2152-7431
2152-744X
DOI:10.1109/ICMA.2013.6617972