DVZ-based obstacle avoidance control of a wheelchair mobile robot

Abstract

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Towards Proactive Navigation: A Pedestrian-Vehicle Cooperation Based Behavioral Model

“…The Deformation of the cooperation zone due to vehicle intrusion 1 Vehicle-Crowd Interaction data-set -CITR lab: https://github. com/dongfang-steven-yang/vci-dataset-citr first introduced in [12] and it has been used since to model systems' maneuvers in both 2D and 3D spaces [13], [14], [15]. The idea is to surround the system under study with a virtual zone, and any body entering that zone will cause a deformation.…”

Evaluation of User Interface Performing a DVZ-Fuzzy Logic Pilot for Powered Wheelchair

“…This sensor provides distances to the obstacles present in the robot's surrounding area with maximum four meters distance to the chair's center. For a more comprehensive review of the application of this method on the robotic wheelchair, refer to [1] and [2].…”

Zona virtual deformável com filtro de partículas no rastreamento de obstáculos em robótica móvel

“…De acordo com [16] e [17], a Zona Virtual Deformável, ou ZVD, consiste em uma área de proteção definida ao redor do robô. Assume-se o que o robô não possui um modelo do espaço ao seu redor, mas pode obter informações sobre a aproximação dos objetos a sua frente.…”

“…A escolha da forma geométrica da ZVD é arbitrária, mas a forma elíptica geralmente é escolhida por [16] e [17], sendo esta forma também a utilizada neste trabalho. No centro de referência polar da elipse está localizado o sensor laser e abaixo dele o robô, como pode ser visto na figura 4.1.…”