Authors:
Bernd Gersdorf
1
and
Shi Hui
2
Affiliations:
1
German Research Center for Artificial Intelligence, Germany
;
2
University of Bremen, Germany
Keyword(s):
Differential drive vehicle, Electric wheelchair, Castor wheel, Motion controller, Force compensation.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
This paper describes a motion controller for differential drive vehicles with a compensation for castor wheel turn forces. The controller has been developed for electric wheelchairs with two front castor wheels, which
require large steering forces to move into the direction given by the joystick in situations where a sharp turn of the castor wheels is needed. It computes the required forces to turn the castor wheels and modifies the drive
request adequately. This also helps physical or cognitive impaired users who otherwise have to compensate castor turn forces manually using the joystick, which requires fast reaction time (e.g. when the castor wheels
turn quickly into the driving direction) to avoid collisions.