지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 936 - 940 (5page)
이용수
초록· 키워드
오류제보하기
As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair’s velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.
목차
Abstract
Ⅰ. 서론
Ⅱ. 전동 휠체어의 구조
Ⅲ. MVO를 이용한 충돌회피
Ⅳ. 충돌회피 시 탑승자에게 미치는 힘
Ⅴ. 충돌회피를 위한 속력 및 헤딩각도 변화
Ⅵ. 모의실험
Ⅶ. 결론
REFERENCES
참고문헌 (12)
참고문헌 신청
1. [학술지(정기간행물)] - J. Boernstein / 1991 / The vector field histogram-fast obstacle avoidance for mobile robots / IEEE Trans. on Robotics and Automation 7 (3) : 278 ~ 288
2. [학술지(정기간행물)] - H. Seraji / 1999 / Real-time collision avoidance for position-controlled manipulators / IEEE Trans. on Robotics and Automation 15 (4) : 670 ~ 677
3. [학술지(정기간행물)] - O. Khatib / 1986 / Real-time obstacle avoidance for manipulators and mobile robots / International Journal of Robotics Research 5 (1) : 90 ~ 99
4. [학술대회논문] - P. Fiorini / 1993 / Motion planning in dynamic environments using the relative velocity paradigm / Proc. of IEEE International Conference on Automation and Robotics 1 : 560 ~ 566
5. [학술지(정기간행물)] - P. Fiorini / 1998 / Motion planning in dynamic environments using velocity obstacles / International Journal of Robotics Research 17 (7) : 760 ~ 772
2. [학술지(정기간행물)] - H. Seraji / 1999 / Real-time collision avoidance for position-controlled manipulators / IEEE Trans. on Robotics and Automation 15 (4) : 670 ~ 677
3. [학술지(정기간행물)] - O. Khatib / 1986 / Real-time obstacle avoidance for manipulators and mobile robots / International Journal of Robotics Research 5 (1) : 90 ~ 99
4. [학술대회논문] - P. Fiorini / 1993 / Motion planning in dynamic environments using the relative velocity paradigm / Proc. of IEEE International Conference on Automation and Robotics 1 : 560 ~ 566
5. [학술지(정기간행물)] - P. Fiorini / 1998 / Motion planning in dynamic environments using velocity obstacles / International Journal of Robotics Research 17 (7) : 760 ~ 772
이 논문의 저자 정보
이 논문과 함께 이용한 논문
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2014-560-002843954