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Non-holonomic navigation system of a walking-aid robot

: Hostalet Wandosell, J.M.; Graf, B.

IEEE Industrial Electronics Society; Robotics Society of Japan -RSJ-:
IEEE ROMAN 2002. Proceedings : 11th IEEE International Workshop in Robot and Human Interactive Communication, September 25-27, 2002, Berlin
Piscataway, NJ: IEEE, 2002
ISBN: 0-7803-7545-9
International Workshop on Robot and Human Communication (ROMAN) <11, 2002, Berlin>
Conference Paper
Fraunhofer IPA ()
nonholonomic mobile robot; elastic band; walking aid; navigation; Roboter

This work presents a navigation method for a nonholonomic robot. The robot is used as a walking assistant with a person following to a specific target. During motion the user may modify the path computed by the robot. The method is based on a new model of "elastic bands" considering the requirements of a car-like robot moving only forward (Dubin's model).