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Authors: Bernd Gersdorf 1 and Shi Hui 2

Affiliations: 1 German Research Center for Artificial Intelligence, Germany ; 2 University of Bremen, Germany

ISBN: 978-989-8425-01-0

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.

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Paper citation in several formats:
Gersdorf B.; Hui S. and (2010). A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 174-179. DOI: 10.5220/0002913101740179

@conference{icinco10,
author={Bernd Gersdorf and Shi Hui},
title={A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={174-179},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002913101740179},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A CASTOR WHEEL CONTROLLER FOR DIFFERENTIAL DRIVE WHEELCHAIRS
SN - 978-989-8425-01-0
AU - Gersdorf, B.
AU - Hui, S.
PY - 2010
SP - 174
EP - 179
DO - 10.5220/0002913101740179

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