Local maneuvers planning: application to an autonomous wheelchair moving in constrained spaces

Authors: Ouiguini, Rachid¹; Khiat, Abdelaziz²; Ouzaïd, Saïd²

Source: Advanced Robotics, Volume 14, Number 7, 2001 , pp. 607-623(17)

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Abstract:

The problem approached in this paper is the simulation of maneuvers planning for an autonomous mobile robot moving in constrained spaces free of obstacles. The robot treated is an autonomous wheelchair for the disabled. Our approach is based on the principle that a maneuver is the concatenation of elementary moves with reversal. So, to perform a maneuver that enables reaching a final state, we have defined five elementary moves. The developed planner is built around a perception system, a guidance system and a locomotion system. Each elementary move is implemented using a fuzzy controller.

Keywords: MOBILE ROBOT; NON-HOLONOMIC; WHEELCHAIR; FUZZY CONTROLLER; MOVEMENT PLANNING

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855301742049

Affiliations: 1: Laboratoire de Robotique et d'Intelligence Artificielle (LRIA), CDTA, 128 chemin Med Gacem, El-Madania, Algiers, Algeria 2: Institut National d'Informatique (INI), DPGR, BP 68M, 16270 Oued-Smar, Algiers, Algeria

Publication date: 2001-01-01