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.
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.
Steering through doorways after learning in analog neurons.
After learning, the robot can steer directly through narrow doorways
or combine forward and backward movements as shown below.
Andreas Bühlmeier's Homepage
By Andreas Bühlmeier,
last update August, 1998