DEVELOPMENT OF AGENT-BASED AUTONOMOUS ROBOTIC WHEELCHAIR CONTROL SYSTEMS

2003 ◽  
Vol 15 (06) ◽  
pp. 223-234 ◽  
Author(s):  
CHUNG-HSIEN KUO ◽  
HSU-LUNG HUANG ◽  
MING-YIH LEE
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
A Algorithm ◽  
Individual Agent ◽  
Agent Based ◽  
Agent Model ◽  
The Individual ◽  
Fuzzy Fusion ◽  
Robotic Wheelchair ◽  
Wheelchair Control

In this paper, the intelligent and agent-based autonomous robotic wheelchair controller is proposed. The proposed agent-based autonomous robotic wheelchair control system consists of the functions of path planning, navigation and obstacle avoidance. In this work, the A* algorithm is used to develop the path planning module; the fuzzy logic is used to develop the obstacle avoidance and comfortable wheelchair motion control. Especially, the fuzzy fusion method is used to integrate the proposed fuzzy agent model. Finally, several cases of the individual agent execution, fuzzy module fusion, path planning, and wheelchair coordination are discussed, and the simulation results show that the proposed autonomous robotic wheelchair controller achieves the desired objectives. In addition, the agent-based design increases the model integrability and maintability.

Robotic wheelchair controlled through a vision-based interface

Robotica ◽  
2011 ◽  
Vol 30 (5) ◽  
pp. 691-708 ◽  
Author(s):  
Elisa Perez ◽  
Carlos Soria ◽  
Oscar Nasisi ◽  
Teodiano Freire Bastos ◽  
Vicente Mut
Keyword(s):  
Dynamic Model ◽  
Experimental Results ◽  
Control Architecture ◽  
Control Interface ◽  
Vision Based Control ◽  
Robotic Wheelchair ◽  
Wheelchair Control

SUMMARYIn this work, a vision-based control interface for commanding a robotic wheelchair is presented. The interface estimates the orientation angles of the user's head and it translates these parameters in command of maneuvers for different devices. The performance of the proposed interface is evaluated both in static experiments as well as when it is applied in commanding the robotic wheelchair. The interface calculates the orientation angles and it translates the parameters as the reference inputs to the robotic wheelchair. Control architecture based on the dynamic model of the wheelchair is implemented in order to achieve safety navigation. Experimental results of the interface performance and the wheelchair navigation are presented.

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