A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots
Seyed Amir Tafrishi,Ankit A. Ravankar,Jose Victorio Salazar Luces,Yasuhisa Hirata,Seyed Amir Tafrishi,Ankit A. Ravankar,Jose Victorio Salazar Luces,Yasuhisa Hirata
Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular for differential wheeled vehicles since the vehicle velocity and direction are controlled with only two actuating wheels. This problem gets more challenging when...
