Control and Obstacle Avoidance of a Mobile Platform Used as Robotic Assistant for Elderly and Disabled - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

Control and Obstacle Avoidance of a Mobile Platform Used as Robotic Assistant for Elderly and Disabled

Résumé

In this paper a fuzzy control and an obstacle avoidance system, together with a distributed system of embedded microcontrollers, are presented. In the real-time control, a wheeled mobile robot (WMR), Pioneer 3-DX, from Mobile Robots, has been used. The solution adopted can be easily ported for the implementation of an intelligent wheelchair, capable either to carry an elderly or disabled person, or to move independently in a smart environment, as a sensorial extension of the assisted individual. A number of control modules are located on the mobile robot, while others are deployed in an intelligent environment. This solution can significantly reduce the cost of developing a robotic assistant for the elderly and disabled. The structure of the real-time setup is described in detail, as well as the main algorithms used for each individual task: path following, obstacle avoidance, data acquisition. Also, an obstacle avoidance system, based on ricochet method, named "the bubble rebound method", is presented. This method is tested only by simulation.
Fichier principal
Vignette du fichier
Voda-control.PDF (257.41 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

inria-00599584 , version 1 (10-06-2011)

Identifiants

  • HAL Id : inria-00599584 , version 1

Citer

Alina Voda, Adrian Filipescu, Ion Susnea, Eugénia Minca. Control and Obstacle Avoidance of a Mobile Platform Used as Robotic Assistant for Elderly and Disabled. CAR 2011 - 6th National Conference on Control Architectures of Robots, INRIA Grenoble Rhône-Alpes, May 2011, Grenoble, France. ⟨inria-00599584⟩
336 Consultations
514 Téléchargements

Partager

Gmail Facebook X LinkedIn More