Ensuring safe obstacle avoidance in a shared-control system
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1405-1414
- https://doi.org/10.1109/etfa.1999.813154
Abstract
This paper describes the Bremen Autonomous Wheelchair project. It shows that common static fire strategies for ultrasonic sensors are inherently unsafe and proposes a new adaptive fire strategy which delivers a complete coverage of the environment of the robot. Furthermore, a new obstacle avoidance approach for shared-control robotic systems is described in detail.Keywords
This publication has 8 references indexed in Scilit:
- Safety in robotics: the Bremen Autonomous WheelchairPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- An experimental comparison of localization methodsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Dynamic control of a mobile manipulatorPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Taxonomy of Spatial Knowledge for Navigation and its Application to the Bremen Autonomous WheelchairPublished by Springer Nature ,1998
- Fast grid-based position tracking for mobile robotsPublished by Springer Nature ,1997
- How in the World Did We Ever Get into That Mode? Mode Error and Awareness in Supervisory ControlHuman Factors: The Journal of the Human Factors and Ergonomics Society, 1995
- Exploration, Navigation and Self-Localization in an Autonomous Mobile RobotPublished by Springer Nature ,1995
- The vector field histogram-fast obstacle avoidance for mobile robotsIEEE Transactions on Robotics and Automation, 1991