An adaptive scheme for wheelchair navigation collaborative control
Cristina Urdiales, José Manuel Peula, Cristian Barruè, Ulises Cortés, Francisco Sandoval, Carlo Caltagirone, Roberta Annicchiarico · 2008
In this paper we propose a system where machine and human cooperate at every situation via a reactive emer-gent behavior, so that the person is always in charge of his/her own motion. Our approach relies on lo-cally evaluating the performance of the human and the wheelchair for each given situation. Then, both their motion commands are weighted according to those effi-ciencies and combined in a reactive way. This approach benefits from the advantages of typical reactive behav-iors to combine different sources of information in a simple, seamless way into an emergent trajectory