8 accepted papers
A combined minimum time - minimum jerk traffic management system for the vehicle coordination in an automated warehouse is presented. The algorithm is organised in two steps: in the first, a simple minimum time optimisation problem is solved, in the second step, this time-optimal solution is refined
The letter proposes a combination of ideas to support navigation for a mobile robot across dynamic environments, cluttered with obstacles and populated by human beings. The combination of the classical potential field methods and limit cycle based approach with an innovative shape for the limit cycl
We consider the problem of guiding a senior user along a path using a robotic walking assistant. This is a particular type of path following problem, for which most of the solutions available in the literature require an exact localisation of the robot in the environment. An accurate localisation is…
We consider a robotic walking assistant used to guide senior users across a crowded space. The problem we address is how to guide the user using motorized back wheels. Our strategy aims to simulate a passive behavior in which the forward velocity is the one imposed by the user, who receives the impr
Assistive passive robotic walkers are naturally modelled as rear-driven bicycle with control on the front steering wheels. Standard path following algorithms used for unicycle-like robots can then be readily available, e.g. using backstepping techniques, to control the walker on desired paths. Howev…
A promising way to offset the reduced mobility of a large number of older adults is using robotic systems providing physical and cognitive support for the navigation in large and crowded public spaces. In this letter, we study a possible solution for guidance based on the action of electromechanical
Robotic walkers are a particular class of devices used to assist users with physical or cognitive impairments in their navigation of large public spaces. In this context, a guidance mechanism is a controller that steers the user towards the desired path when he/she deviates. Passive guidance mechani…
This paper presents a control algorithm that steers a robotic walking assistant along a planned path using electromechanical brakes. The device is modeled as a Dubins' car, i.e., a wheeled vehicle that moves only forward in the plane and has a limited turning radius. In order to reduce the cost of t…