Safety Assurance of Omnidirectional Wheelchair Robot for Playing Badminton Game

Globally, there are many people with disabilities. Recently, a variety of facilities and equipment have been innovated, catering not only the disabled individuals but also the aging population. Among these, the wheelchair is one of the most commonly utilized tools in diverse scenarios for disabled and elderly individuals. In this paper, we deal with the safety assurance of omniditectional wheelchair robot for playing badminton. We conducted experiments to control multiple omnidirectional robots and prevent collisions. We conducted experiments by placing reference points, where the robot should pass through with an error margin of a few centimeters at 1 [m] intervals. Additionally, we investigated the trajectory when the reference points were set at 50 [cm] intervals and when there are no reference points. The evaluation results in case when we did not use intervals are better than other results (when using point intervals of 0.5 [m] and 1 [m]).