2026-03-08T17:42:28Z https://hiroshima.repo.nii.ac.jp/oai

oai:hiroshima.repo.nii.ac.jp:02007537 2025-02-21T10:09:28Z 1730444907710

Obstacle Avoidance Method for Electric Wheelchairs Based on a Multi-Layered Non-Contact Impedance Model Kokubo, Haruna Shibanoki, Taro Chin, Takaaki Tsuji, Toshio obstacle avoidance non-contact impedance electric wheelchairs people with disabilities This paper proposes an obstacle avoidance method based on a multi-layered non-contact impedance model for control of the biosignal-based electric wheelchair. The proposed system can calculate a virtual repulsive force before the collision by multi-layered impedance fields covered around it. This system therefore regulates desired path to avoid obstacles in a variety of situations. In the experiments, the mobile robot passed through obstacles smoothly, and could stop emergently to avoid the obstacle in front of the robot owing to virtual forces calculated by the proposed model. This work was supported by JSPS KAKENHI Grant Number JP26330226. http://purl.org/coar/resource_type/c_6501 Atlantis Press 2017-05 VoR 2405-9021 2352-6386 45 Journal of Robotics, Networking and Artificial Life 1 4 48 45 Journal of Robotics, Networking and Artificial Life https://hiroshima.repo.nii.ac.jp/records/2007537 eng 10.2991/jrnal.2017.4.1.10 https://doi.org/10.2991/jrnal.2017.4.1.10 open access Copyright © 2017, the Authors. Published by Atlantis Press. This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).