Neuro-fuzzy control of a power assist omni-directional wheelchair to enhance maneuverability

被引：0
|
作者：
Urbano, Juan [1 ]
Terashima, Kazuhiko [1 ]
Kitagawa, Hideo [2 ]
机构：
[1] Toyohashi Univ Technol, Dept Prod Syst Engn, Toyohashi, Aichi 4418580, Japan
[2] Gifu Natl Coll Technol, Dept Elect Control Engn, Gifu 5010495, Japan
来源：
PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-4 | 2006年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For helping attendants of handicapped people and elderly people, a power assist system has been added to an Omni-directional Wheelchair (OMW). With this addition it is possible for the attendants to deal with heavy loads, but there is a problem of operability when the attendants want to move the OMW laterally or rotate around OMW's Gravity Center (CG). In this paper, for solving this problem, a fuzzy reasoning method has been proposed for estimating the navigation direction according to the force added by the attendants to the handgrips of the handle of the OMW. A neuro-fuzzy system (ANFIS) is used for the tuning of the membership functions of the fuzzy system according to each attendant's characteristics, by using the input data of the attendants.
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页码：535 / +
页数：2
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