Research on the shared control technology for robotic wheelchairs based on topological map

Wang, Fei; Liu, Yuqiang; Zhang, Yahui; Gao, Yu; Xiao, Ling; Wu, Chengdong

doi:10.1108/ir-04-2019-0084

Cited by 4 publications

(4 citation statements)

References 23 publications

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“…When analyzing the application navigation system for children's health, the navigation elements in the application should first be sorted out, and the optimal navigation elements should be selected through analysis, comparison and comprehensive induction, and the application navigation system should be built on this basis [7][8].…”

Section: Establishment Of Navigation Systemmentioning

confidence: 99%

Research on navigation interface design of children's health application based on AHP-entropy weight method

2023

acss

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Aiming at the navigation interface design problem of children's health applications, AHP-entropy weight method studies the navigation interface design method of children's health applications. Taking a children's health application as an example, the navigation interface design of the application is analyzed, and the design principles and methods of the application are obtained. On this basis, a children's health navigation interface is constructed by combining AHP and entropy weight method. Hope to provide reference help.

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Section: Establishment Of Navigation Systemmentioning

confidence: 99%

Research on navigation interface design of children's health application based on AHP-entropy weight method

2023

acss

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“…With the maturation of robotic control technology, the working scenarios of the robot have become more diverse and complicated. Complicated or unsafe duties-such as undersea exploration, pipeline inspection, fruits or vegetables harvesting, and firefighting-represent a challenge to the robot's flexibility (Veysi et al, 2015;Wang et al, 2019aWang et al, , 2021.…”

Section: Motivationmentioning

confidence: 99%

A robust intelligent controller-based motion control of a wheeled mobile robot

Ardeshiri

Gheisarnejad

Tavan

et al. 2022

Transactions of the Institute of Measurement and Control

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In this paper, an adaptive intelligent controller is developed for the velocity-tracking problem of a nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and measurement noises. The whole control system is consisting of two subsystems, where each subsystem has its own control responsibility. In this way, first, a kinematic controller is implemented according to the kinematic model of the robot, and then a dynamic controller is designed based on the characteristic of the robot dynamics. Our focus is designing and developing an adaptive fractional-order fuzzy logic proportional–integral–derivative (FOFPID) controller for the trajectory-tracking task in a two-WMR. Unlike the prevalent works which only designed the scaling factors of FOFPID, a simultaneous optimization of fuzzy membership functions and controller coefficients are realized to improve the efficiency of the WMR dynamic controller. Accordingly, the controller parameters are optimally adjusted by employing a combination of the sin cos algorithm and harmony search, called SCA-HS. To validate the applicability of the suggested framework, experimental studies are also conducted on a real-time platform using a two-WMR prototype. The experimental results confirm the effectiveness of the proposed controller for the exact trajectory-tracking problem in the presence of disturbances and noises.

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“…Instead, the mobile manipulator maintains a belief, which is a probability distribution over S. The mobile manipulator starts with an initial belief b 0 . At time t, it infers a new belief, according to Bayes' rule (Wang et al, 2019), by incorporating information from the action a t taken and the observation z t received:…”

Section: Decision-making To Self-protective Actionsmentioning

confidence: 99%

Self-protective motion planning for mobile manipulators in a dynamic door-closing workspace

Liu

Gao

et al. 2021

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Purpose Many work conditions require manipulators to open cabinet doors and then gain access to the desired workspace. However, after opening, the unlocked doors can easily close, interrupt a task and potentially break the operating end-effectors. This paper aims to address a manipulator's behavior planning problem for responding to a dynamic workspace released by door opening. Design/methodology/approach A dynamic model of the restricted workspace released by an unlocked door is established. As a whole system to treat, the interactions between the workspace and robot are analyzed by using a partially observable Markov decision process. A self-protective policy decision executed as a belief tree is proposed. To respond to the policy, this study has designed three types of actions: stay on guard in the workspace, using an elbow joint to defense the door and linear escape out of the workspace for self-protection by observing collision risk levels to trigger them. Finally, this study proposes self-protective motion controllers based on risk time optimization to act to the planned actions. Findings The elbow defense could balance robotic safety and work efficiency by interrupting the end-effector's work and using the elbow joint to prevent the door-closing in an active collision way. Compared with the stay and escape action, the advantage of the elbow defense is having a predictable performance to quick callback the interrupted work after the risk was relieved. Originality/value This work provides guidance for the safe operation of a class of robot operations and the upgrade of motion planning.

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Research on the shared control technology for robotic wheelchairs based on topological map

Cited by 4 publications

References 23 publications

Research on navigation interface design of children's health application based on AHP-entropy weight method

Research on navigation interface design of children's health application based on AHP-entropy weight method

A robust intelligent controller-based motion control of a wheeled mobile robot

Self-protective motion planning for mobile manipulators in a dynamic door-closing workspace

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