頁籤選單縮合
題 名 | Development of Agent-based Autonomous Robotic Wheelchair Control Systems |
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作 者 | Kuo, Chung-hsien; Huang, Hsu-lung; Lee, Ming-yih; | 書刊名 | 醫學工程 |
卷 期 | 15:6 民92.12 |
頁 次 | 頁223-234 |
分類號 | 410.1644 |
關鍵詞 | Multi-agent system; Autonomous robotic wheelchair; Fuzzy system; Obstacle avoidance; |
語 文 | 英文(English) |
英文摘要 | In this paper, the intelligent and agent-based autonomous robotic wheelchair controller is proposed. The proposed agent-based autonomous robotic wheelchair control system consists of the functions of path planning, navigation and obstacle avoidance. In this work, the A* algorithm is used to develop the obstacle avoidance and comfortable wheelchair motion control. Especially, the fuzzy fusion method is used to integrate the proposed fuzzy agent model. Finally, several cases of the individual agent execution, fuzzy module fusion, path planning, and wheelchair coordination are discussed, and the simulation results show that the proposed autonomous robotic wheelchair controller achieves the desired objectives. In addition, the agent-based design increases the model integrability and maintability. |
本系統中英文摘要資訊取自各篇刊載內容。