Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICIEA.2008.4582495
Title: A nonlinear elastic path controller for a robotic wheelchair
Authors: Zhou, L.
Teo, C.L. 
Burdet, E.
Issue Date: 2008
Source: Zhou, L., Teo, C.L., Burdet, E. (2008). A nonlinear elastic path controller for a robotic wheelchair. 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008 : 142-147. ScholarBank@NUS Repository. https://doi.org/10.1109/ICIEA.2008.4582495
Abstract: This paper proposes a nonlinear form of Elastic Path Controller (EPC) based on the previous development of EPC with linearization feedback technique. The new EPC can deviate from the pre-designed guide path, or guideway, as far as we want and fulfill all the general designing criteria of an EPC. The problem is it can not always assure the perpendicular relationship between the position error and desired tangent when the curvature of guide path varies abruptly. The control algorithm is improved so as to reset the desired position when the position error is notably not perpendicular to the desired tangent. The new nonlinear EPC is expected to fulfill all the mobility tasks by previous linear EPC and at the same time it is able to drive the wheelchair to avoid obstacles of arbitrarily large sizes found in the guide path. ©2008 IEEE.
Source Title: 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
URI: http://scholarbank.nus.edu.sg/handle/10635/73067
ISBN: 9781424417186
DOI: 10.1109/ICIEA.2008.4582495
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