Chaveamento de controladores dinámicos para navegacao de cadeira de rodas robótica em ambientes conhecidos

WANDERLEY CELESTE; IGOR ARANTES; TEODIANO FREIRE; MARIO SARCINELLI; RICARDO CARELLI

Juiz de Fora, Minas Gerais, Brasil

Congreso; XVII Congresso Brasileiro de Automatica, CBA; 2008

Asociación Brasilera de Control Automático

This paper presents a control approach for a robotic wheelchair based on switching control. A heading controller and a path-following controller, both based on the mobile vehicle kinematics, are considered. Such controllers, which generate velocity commands, take into account the maximum linear and angular velocities of the vehicle. A supervisor system allows switching between the kinematic controllers. A dynamic controller is cascaded with the kinematic controllers. Reference paths are generated ased on information about the navigating environment, and discrete maps of such environment indicate where there are obstacles. A graphical interface developed to draw the maps is also presented. Experimental results obtained with a Pioneer mobile robot, which emulates the autonomous wheelchair, show that the system allows the autonomous vehicle to reach a given destination, following an obstacle-free path