DVZ-based Obstacle Avoidance Control of a Wheelchair Mobile Robot

Lobna Amouri (1) , Cyril Novales (1) , Gérard Poisson (1) , Malek Njah (2) , Mohamed Jallouli (2) , Nabil Derbel (2)

1 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]
2 ICOS - Intelligent Control, design & Optimization of complex Systems

This paper adresses the control problem of unicycle mobile robot evolving in unknown environments using reactive behaviours. The deformable Virtual Zone (DVZ) principle is used to resolve this problem through defining a safety zone around the vehicle. This approach presents fast control laws that react depending on the presence of an obstacle in the safety zone. Experimental tests are carried out on a wheelchair mobile robot and proved the effectiveness of the studied method.

Domaines: Robotique [cs.RO]

Lobna Amouri, Cyril Novales, Gérard Poisson, Malek Njah, Mohamed Jallouli, et al.. DVZ-based Obstacle Avoidance Control of a Wheelchair Mobile Robot. IEEE Intemational Conference on Mechatronics, Apr 2011, Istanbul, Turkey. pp 911-915. ⟨hal-00630139⟩