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Artículo

Modeling and path-following control of a wheelchair in human-shared environments

Herrera Anda, Daniel EstebanIcon ; Roberti, FlavioIcon ; Carelli Albarracin, Ricardo OscarIcon ; Andaluz, Victor; Varela, José; Ortiz, Jessica; Canseco, Paúl
Fecha de publicación: 04/2018
Editorial: World Scientific
Revista: International Journal Of Humanoid Robotics
ISSN: 0219-8436
Idioma: Inglés
Tipo de recurso: Artículo publicado
Clasificación temática:
Control Automático y Robótica

Resumen

This work presents the kinematic and dynamic modeling of a human-wheelchair system which considers that its center of mass is not located in the middle of the wheel's axle. Furthermore, a novel motion controller is presented for a human-wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: A kinematic controller, and a dynamic controller that compensates the dynamics of the human-wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three different interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcoming many usual interference situations with human obstacles. A good performance of the path-following control is also verified.
Palabras clave: CASCADE CONTROL , DYNAMIC MODELING , FUZZY LOGIC , HUMAN-ROBOT INTERACTION , LYAPUNOV'S METHOD , PEDESTRIAN COLLISION AVOIDANCE , SOCIAL EVASION , WHEELCHAIR
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info:eu-repo/semantics/openAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)
Identificadores
URI: http://hdl.handle.net/11336/148457
URL: https://www.worldscientific.com/doi/abs/10.1142/S021984361850010X
DOI: http://dx.doi.org/10.1142/S021984361850010X
Colecciones
Articulos(INAUT)
Articulos de INSTITUTO DE AUTOMATICA
Citación
Herrera Anda, Daniel Esteban; Roberti, Flavio; Carelli Albarracin, Ricardo Oscar; Andaluz, Victor; Varela, José; et al.; Modeling and path-following control of a wheelchair in human-shared environments; World Scientific; International Journal Of Humanoid Robotics; 15; 2; 4-2018; 1-33
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