A novel assistive controller based on differential geometry for users of the differential-drive wheeled mobile robots

Tafrishi, Seyed Amir ORCID: https://orcid.org/0000-0001-9829-3144, Ravankar, Ankit A., Luces, Jose Victorio Salazar and Hirata, Yasuhisa 2022. A novel assistive controller based on differential geometry for users of the differential-drive wheeled mobile robots. Presented at: 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 23-27 May 2022. 2022 International Conference on Robotics and Automation (ICRA). IEEE, 10.1109/ICRA46639.2022.9811593

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Abstract

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 complex curves should be realized by the user. A novel assistive controller with safety constraints is needed to address these problems. Also, the classic control methods mostly require the desired states beforehand which completely contradicts human's spontaneous decisions on the desired location to go. In this work, we develop a novel assistive control strategy based on differential geometry relying on only joystick inputs and vehicle states where the controller does not require any desired states. We begin with explaining the vehicle kinematics and our designed Darboux frame kinematics on a contact point of a virtual wheel and plane. Next, the geometric controller using the Darboux frame kinematics is designed for having smooth trajectories under certain safety constraints. We experiment our approach with different participants and evaluate its performance in various routes.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Published Online
Status:	Published
Schools:	Engineering Computer Science & Informatics
Publisher:	IEEE
ISBN:	978-1-7281-9681-7
Date of First Compliant Deposit:	2 February 2023
Date of Acceptance:	10 January 2022
Last Modified:	03 Feb 2023 12:30
URI:	https://orca.cardiff.ac.uk/id/eprint/156473

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