2P1-E24 適応学習を用いた電動車椅子の障害物回避システムにおける研究(医療・福祉ロボティクス・メカトロニクス)

概要

論文の詳細を見る
With advance of an aging society, the persons who are physically handicapped have their respective needs about mobility assist with their living conditions. Moreover, operating an electric wheelchair indoors in confined spaces requires considerable skill. This paper presents an obstacle avoiding support system for an electric wheelchair, using reinforcement learning. The obstacle avoidance is semi-automatically supported by the Minimum Vector Field Histogram MVFH method. The MVFH modifies the user manipulation and assists the obstacle avoidance. In the proposed scheme, the modification rate is adjusted by the reinforcement learning according to the environment and the user condition.
一般社団法人日本機械学会の論文
2008-06-06