The Adaptive Steering Assistant Application
Depending on the user's performance, a neural network interferes with user
commands to optimize local navigation, such as steering through a narrow
doorway.
![](images/ServAssist.JPG)
Analog Neurons for Adaptive Control
A rack containing analog hardware neurons is mounted on a wheelchair.
Bumper, sonar and proprioceptive sensors and motor control signals are
connected with a network of neurons, which enables adaptive behavior.
![](images/roll_c3.gif)
Steering through doorways after learning in analog neurons.
![](images/tuer.gif)
After learning, the robot can steer directly through narrow doorways
or combine forward and backward movements as shown below.
![](images/doorway.gif)
Andreas Bühlmeier's Homepage
By Andreas Bühlmeier,
last update August, 1998