This paper describes a novel obstacle avoidance control scheme of electric powered wheelchairs for realizing the safe driving in various environments. "Electric powered wheelchair" which generates the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the driving performance must be further improved because the number of driving accidents caused by elderly operator's narrow sight and joystick operation errors is increasing. This paper proposes a novel obstacle avoidance control scheme based on fuzzy algorithm to prevent driving accidents. The proposed control system determines the driving direction by fuzzy algorithm based on the information of the joystick operation and distance to obstacles measured by ultrasonic sensors and the driving risk by fuzzy algorithm based on the information of the gap between the user's intent and the driving direction and the velocity of electric powered wheelchairs. Fuzzy rules to determine the driving direction and risk are designed surely to avoid passers-by and walls considering the human's intent and driving environments. Some driving experiments on the practical situations show the effectiveness of the proposed control system.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Fuzzy algorithm based obstacle avoidance control of electric powered wheelchair using ultrasonic sensor


    Contributors:


    Publication date :

    2009


    Size :

    6 Seiten, 8 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    An obstacle avoidance system for an electric wheelchair

    Brown, M. / IEE; Power Division; Professional Groups P6 (Power electronics) and PG S9 (Biomedical engineering) | British Library Conference Proceedings | 1995


    Obstacle avoidance universal wheel for a wheelchair

    LUO YIMIN | European Patent Office | 2020

    Free access

    Research on Intelligent Wheelchair Obstacle Avoidance Based on AdaBoost

    Chen, Jing ;Niu, Jing Li ;Chen, Dong Hai | Trans Tech Publications | 2013


    Stereo Based 3D Perception for Obstacle Avoidance in Autonomous Wheelchair Navigation

    Gomes, Bruno / Torres, José / Sobral, Pedro et al. | Springer Verlag | 2022


    Obstacle avoidance using fuzzy neural networks

    Liu, Xuemin / Liang Peng / Li, Jiawei et al. | Tema Archive | 1998