Path planning for intelligent wheelchair based on modified tentacles method

Permanent URL: http://hdl.handle.net/2047/D20260328
Title:
Path planning for intelligent wheelchair based on modified tentacles method
Creator:
Liu, Jingwei (Author)
Contributor:
Padir, Taskin (Advisor)
Erdogmus, Deniz (Committee member)
Sternad, Dagmar (Committee member)
Language:
English
Publisher:
Boston, Massachusetts : Northeastern University, December 2017
Date Awarded:
December 2017
Date Accepted:
December 2017
Type of resource:
Text
Genre:
Masters theses
Format:
electronic
Digital origin:
born digital
Abstract/Description:
In this research, a path planning method for differential drive intelligent wheelchair is described. This method is derived from a path planning algorithm called driving with tentacles. The approach of this research is applying wheelchairs state, generating a modified tentacle trajectory that decrease the driving deviation between the selected path and the wheelchairs true path. The selection of the tentacle (a drivable path) relies on a heuristic cost function for each tentacle, and other variables such as tentacles length, distance to the destination, wheelchairs speed and collision condition with obstacles. MATLAB simulation and practical implementation on Permobil C300 wheelchair with ROS (Robot Operating System) are also provided in this paper.
Subjects and keywords:
path planning
wheelchair
modified tentacle
DOI:
https://doi.org/10.17760/D20260328
Permanent Link:
http://hdl.handle.net/2047/D20260328
Use and reproduction:
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