https://scholars.lib.ntu.edu.tw/handle/123456789/611597
標題: | An embedded robotic wheelchair control architecture with reactive navigations | 作者: | Kuo C.-H. Syu Y.-S. Tsai T.-C. Chen T.-S. CHUNG-HSIEN KUO |
關鍵字: | Artificial field;Computational loads;Device Driver;Embedded control systems;Embedded Linux;Embedded platforms;Embedded robotics;Experimental validations;High reliability;Kernel space;Laser range finders;Obstacle detection sensors;Open-source code;Power monitoring;Reactive navigation;Real time performance;Robotic wheelchairs;Touch panels;Travel distance;User spaces;Architecture;Computer operating systems;Embedded systems;Graphical user interfaces;Obstacle detectors;Real time systems;Robots;Safety engineering;Sensors;Wheelchairs;Robotics | 公開日期: | 2011 | 起(迄)頁: | 810-815 | 來源出版物: | IEEE International Conference on Automation Science and Engineering | 摘要: | In this paper, we propose a robotic wheelchair control architecture for reactive navigations to improve safety. The proposed solution is developed based on the XScale embedded platform and real-time embedded Linux. A touch panel is used to display useful information for users. In addition, reactive navigation techniques of mobile robots are developed by combining the obstacle detection sensor information to perform collision free navigations where the obstacle detection sensor uses a laser range finder and the reactive navigation uses the artificial field potential (APF) approach. The collections of obstacle information and realizations of APF navigations are implemented as device drivers in the kernel space to improve real time performance, as well as to reduce the computational loads of graphical user interface (GUI) in the user space. In addition, the modules of power monitoring, travel distance counter and drive speed counting are also developed as device drivers. Consequently, the proposed robotic wheelchair control architecture has the features of real-time performance, simple architecture, high reliability, and safety. Meanwhile, the device drivers and GUI are all developed as open source codes, and they are easy for integrations. Finally, a robotic wheelchair prototype is produced in our laboratory for experimental validations of the embedded robotic wheelchair control architecture, as well as for the evaluations of reactive navigations. ? 2011 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-82455192453&doi=10.1109%2fCASE.2011.6042445&partnerID=40&md5=17800a8758ab031bd3e20ca2724a3496 https://scholars.lib.ntu.edu.tw/handle/123456789/611597 |
DOI: | 10.1109/CASE.2011.6042445 |
顯示於: | 機械工程學系 |
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