2A2-R14 Running control for electric wheelchair using crossroads recognition(Wheeled Robot / Tracked Vehicle (2))

Abstract

We have proposed a path control method for vehicles using the time-state control form with the rotational and expansionary coordinate transformations. In this paper, the path control method with disturbance observer for electric wheelchairs using a crossroads recognition technique is proposed. The crossroads recognition technique is proposed to estimate the center of crossroads from sensor information of Laser Range Finder by using the labeling processing, least squared method and so on. The disturbance observer is used to reduce the effect of weight of drivers. These methods are synthesized and it is applied to a remodeled electric wheelchair and effectiveness is confirmed by experiments.