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http://dx.doi.org/10.5302/J.ICROS.2004.10.10.940

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

김병국 (한국과학기술원 전자전산학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.10, 2004 , pp. 940-946 More about this Journal
Abstract
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.
Keywords
real-time linux; software architecture; autonomous navigation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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