Vector Fields Autonomous Control for Assistive Mobile Robots

摘要

This study introduces an innovative autonomous control system for assistive mobile robots, focusing on users with significant physical disabilities. Leveraging vector fields and a modified A* algorithm, the system enhances the traditional approach to robotic wheelchair navigation. The methodology emphasizes autonomous navigation in familiar environments, integrating advanced Human-Machine Interfaces (HMIs) for user interaction and control. Experimental analysis demonstrates the system's superiority over conventional Proportional, Integral and Derivative (PID) controllers in terms of safety, adaptability, and user comfort. The solution effectively addresses the challenges of map maintenance, route planning, and dynamic obstacle avoidance, marking a significant advancement in assistive robotics.