2026-05-31T01:14:08Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/100472026-02-03T12:30:30Zcom_10630_2254col_10630_37959

Towards a Shared Control Navigation Function: Efficiency Based Command Modulation Fernández-Carmona, Manuel Peula-Palacios, José Manuel Urdiales-García, Amalia Cristina Sandoval-Hernández, Francisco Redes neuronales artificiales Shared control Navigation function Potential fields Mixed initiative control Power wheelchairs Assistive robotics This paper presents a novel shared control algorithm for robotized wheelchairs. The proposed algorithm is a new method to extend autonomous navigation techniques into the shared control domain. It reactively combines user’s and robot’s commands into a continuous function that approximates a classic Navigation Function (NF) by weighting input commands with NF constraints. Our approach overcomes the main drawbacks of NFs -calculus complexity and limitations on environment modeling- so it can be used in dynamic unstructured environments. It also benefits from NF properties: convergence to destination, smooth paths and safe navigation. Due to the user’s contribution to control, our function is not strictly a NF, so we call it a pseudo-navigation function (PNF) instead. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. 2015-07-07T11:16:33Z 2015-07-07T11:16:33Z 2015 2015-07-07 conference output http://hdl.handle.net/10630/10047 http://orcid.org/0000-0001-9235-7856 eng International work-conference on Artificial Neural Networks Palma de Mallorca, Islas Baleares, Spain Junio 2015 by-nc-nd open access application/pdf