Shared-Control and Force-Reflection Joystick Algorithm for the Door Passing of Mobile Robot or Powered Wheelchair

초록

This paper proposes a shared control method which is capable of passing doors when an operator drives mobile robot or electric-powered wheelchair by using force-reflection joystick. When an operator controls the mobile-base like robot or wheelchair, which attached distance-measuring sensors, with force-reflection joystick, the system can provide many advantages because he can be conscious of obstacles around the robot by force reflection. The role of distance-measuring sensors in this case is to provide discrete graph information. Therefore, we can calculate the force should generated. Each sensor data is considered as vector components. However, this theory has a defect that robot could not pass a door because of the door architecture. In this case, the vector force concept interferes with operators steering. Therefore, we proposed a shared control method using vector value with Gassian distribution and obstacle information. This method modifies subtly the direction of steering by those data. Through the experiments, we have confirmed that proposed shared-control algorithm is very efficient at door passing of mobile-base