Abstract

This paper presents a novel shared control algorithm for robotized wheelchairs. The proposed algorithm is a new method to extend autonomous navigation techniques into the shared control domain. It reactively combines user’s and robot’s commands into a continuous function that approximates a classic Navigation Function (NF) by weighting input commands with NF constraints. Our approach overcomes the main drawbacks of NFs -calculus complexity and limitations on environment modeling- so it can be used in dynamic unstructured environments. It also benefits from NF properties: convergence to destination, smooth paths and safe navigation. Due to the user’s contribution to control, our function is not strictly a NF, so we call it a pseudo-navigation function (PNF) instead.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.