DESIGN CRITERIA FOR OBSTACLE AVOIDANCE IN A SHARED-CONTROL SYSTEM

摘要

The NavChair assistive navigation system was originally conceived as an application of mobile robot obstacle avoidance to a power wheelchair. In this system, the user shares wheelchair control with obstacle avoidance and other navigation components. The philosophy of shared control has important implications for the design of these components. This paper discusses the development of a new obstacle avoidance routine for the NavChair guided by design criteria for shared control systems.