제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제10권10호
  • /
  • Pages.940-946
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  • 2004
  • /
  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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전동휠체어의 자유주행을 위한 실시간 제어 구조의 개발

Development of Real-Time Control Architecture for Autonomous Navigation of Powered Wheelchair

  • 김병국 (한국과학기술원 전자전산학과)
  • 발행 : 2004.10.01
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초록

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

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참고문헌

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