期刊
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
卷 47, 期 6, 页码 825-835出版社
EMERALD GROUP PUBLISHING LTD
DOI: 10.1108/IR-04-2019-0084
关键词
BCI; Markov decision; Robotic wheelchairs; Shared control; Topological map
资金
- Fundamental Research Funds for the Central Universities of China [N172608005, N182612002]
- Liaoning Provincial Natural Science Foundation of China [20180520007]
Purpose - A robotic wheelchair system was designed to assist disabled people with disabilities to walk. Design/methodology/approach - An anticipated sharing control strategy based on topological map is proposed in this paper, which is used to assist robotic wheelchairs to realize interactive navigation. Then, a robotic wheelchair navigation control system based on the brain-computer interface and topological map was designed and implemented. Findings - In the field of robotic wheelchairs, the problems of poor use, narrow application range and low humanization are still not improved. Originality/value - In the system, the topological map construction is not restricted by the environment structure, which helps to expand the scope of application; the shared control system can predict the users' intention and replace the users' decision to realize human-machine interactive navigation, which has higher security, robustness and comfort.
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