Extending Teach and Repeat to Pivoting Wheelchairs
The paper extends the teach-and-repeat paradigm that has been successful for the control of holonomic robots to nonholonomic wheelchairs which may undergo pivoting action over the course of their taught movement. Due to the nonholonomic nature of the vehicle kinematics, estimation is required -- in...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
International Institute of Informatics and Cybernetics
2003-02-01
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| Series: | Journal of Systemics, Cybernetics and Informatics |
| Subjects: | |
| Online Access: | http://www.iiisci.org/Journal/CV$/sci/pdfs/001127.pdf
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| _version_ | 1818943856462266368 |
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| author | Guillermo Del Castillo Steven B. Skaar Linda Fehr |
| author_facet | Guillermo Del Castillo Steven B. Skaar Linda Fehr |
| author_sort | Guillermo Del Castillo |
| collection | DOAJ |
| description | The paper extends the teach-and-repeat paradigm that has been successful for the control of holonomic robots to nonholonomic wheelchairs which may undergo pivoting action over the course of their taught movement. Due to the nonholonomic nature of the vehicle kinematics, estimation is required -- in the example given herein, based upon video detection of wall-mounted cues -- both in the teaching and the tracking events. In order to accommodate motion that approaches pivoting action as well as motion that approaches straight-line action, the estimation equations of the Extended Kalman Filter and the control equations are formulated using two different definitions of a nontemporal independent variable. The paper motivates the need for pivoting action in real-life settings by reporting extensively on the abilities and limitations of estimation-based teach-and-repeat action where pivoting and near-pivoting action is disallowed. Following formulation of the equations in the near-pivot mode, the paper reports upon experiments where taught trajectories which entail a seamless mix of near-straight and near-pivot action are tracked. |
| first_indexed | 2024-12-20T07:33:58Z |
| format | Article |
| id | doaj.art-76643adc276c4f258c931fd62fd10628 |
| institution | Directory Open Access Journal |
| issn | 1690-4524 |
| language | English |
| last_indexed | 2024-12-20T07:33:58Z |
| publishDate | 2003-02-01 |
| publisher | International Institute of Informatics and Cybernetics |
| record_format | Article |
| series | Journal of Systemics, Cybernetics and Informatics |
| spelling | doaj.art-76643adc276c4f258c931fd62fd106282022-12-21T19:48:20ZengInternational Institute of Informatics and CyberneticsJournal of Systemics, Cybernetics and Informatics1690-45242003-02-01115562Extending Teach and Repeat to Pivoting WheelchairsGuillermo Del Castillo0Steven B. Skaar1Linda Fehr2 Aerospace and Mechanical Engineering, University of Notre Dame Aerospace and Mechanical Engineering, University of Notre Dame Prosthetics, Orthotics and Orthopedic Rehabilitation/Rehab Engineering, E. J. Hines Jr. VA Hospital The paper extends the teach-and-repeat paradigm that has been successful for the control of holonomic robots to nonholonomic wheelchairs which may undergo pivoting action over the course of their taught movement. Due to the nonholonomic nature of the vehicle kinematics, estimation is required -- in the example given herein, based upon video detection of wall-mounted cues -- both in the teaching and the tracking events. In order to accommodate motion that approaches pivoting action as well as motion that approaches straight-line action, the estimation equations of the Extended Kalman Filter and the control equations are formulated using two different definitions of a nontemporal independent variable. The paper motivates the need for pivoting action in real-life settings by reporting extensively on the abilities and limitations of estimation-based teach-and-repeat action where pivoting and near-pivoting action is disallowed. Following formulation of the equations in the near-pivot mode, the paper reports upon experiments where taught trajectories which entail a seamless mix of near-straight and near-pivot action are tracked.http://www.iiisci.org/Journal/CV$/sci/pdfs/001127.pdf RoboticsControl systemsMobile robot systemsEstimation using visionAutonomous navigationWheeled robots |
| spellingShingle | Guillermo Del Castillo Steven B. Skaar Linda Fehr Extending Teach and Repeat to Pivoting Wheelchairs Journal of Systemics, Cybernetics and Informatics Robotics Control systems Mobile robot systems Estimation using vision Autonomous navigation Wheeled robots |
| title | Extending Teach and Repeat to Pivoting Wheelchairs |
| title_full | Extending Teach and Repeat to Pivoting Wheelchairs |
| title_fullStr | Extending Teach and Repeat to Pivoting Wheelchairs |
| title_full_unstemmed | Extending Teach and Repeat to Pivoting Wheelchairs |
| title_short | Extending Teach and Repeat to Pivoting Wheelchairs |
| title_sort | extending teach and repeat to pivoting wheelchairs |
| topic | Robotics Control systems Mobile robot systems Estimation using vision Autonomous navigation Wheeled robots |
| url | http://www.iiisci.org/Journal/CV$/sci/pdfs/001127.pdf
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