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.
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Fernández-Carmona, M., Peula, J.M., Urdiales, C., Sandoval, F. (2015). Towards a Shared Control Navigation Function: Efficiency Based Command Modulation. In: Rojas, I., Joya, G., Catala, A. (eds) Advances in Computational Intelligence. IWANN 2015. Lecture Notes in Computer Science(), vol 9094. Springer, Cham. https://doi.org/10.1007/978-3-319-19258-1_16
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DOI: https://doi.org/10.1007/978-3-319-19258-1_16
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