Methodology for Autonomous Crossing Narrow Passages Applied on Assistive Mobile Robots
| Autor: | Guilherme M. Maciel, Ivo Chaves da Silva Junior, Milena F. Pinto, André L. M. Marcato |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Interface (computing) Real-time computing Energy Engineering and Power Technology Robotics Mobile robot 02 engineering and technology Kalman filter Field (computer science) Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Control theory Control system 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Artificial intelligence Electrical and Electronic Engineering MATLAB business computer computer.programming_language |
| Zdroj: | Journal of Control, Automation and Electrical Systems. 30:943-953 |
| ISSN: | 2195-3899 2195-3880 |
| DOI: | 10.1007/s40313-019-00499-2 |
| Popis: | The assistive robotics field works with technologies aimed at assisting people with physical impairments. Simple tasks like passing through doorways can be a significant challenge for motored wheelchairs users. Besides, depending on the disability degree, the task may be impossible to complete without help. Therefore, mobile robotics technologies have been implemented in wheelchairs to give them intelligence, and a supervisory interface inserts the user in the control loop to complete the objectives. Thus, this research proposes an innovative method to assist the user to cross narrow passages automatically. The methodology works in known and unknown environments. Besides, it does not require mapping and global localization algorithms. In this technique, a depth camera recognizes the edges between a narrow path. A Kalman filter method is used to improve the precision of these points even when the passage leaves the camera field of view. Finally, a nonlinear controller performs the narrow passage crossing. This methodology was analyzed using a MATLAB model, Gazebo simulation platform, and a real mobile robot Pioneer-P3DX. The results demonstrated promising applicability. |
| Databáze: | OpenAIRE |
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