Synthesis and evaluation of the smart electric powered wheelchair route stabilization concept – a simulation study

• Autorzy: Skrzypczyk K. , Gałuszka A. , Antas T.

Identyfikatory

DOI

0.1515/acsc-2015-0017

• Języki publikacji: EN

Abstrakty

EN

The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained.

Słowa kluczowe

EN

autonomous robots; robot navigation; sensory system; electric power wheelchair; motion control

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2015
• Tom: Vol. 25, no. 2
• Strony: 263--273
• Opis fizyczny: Bibliogr. 14 poz., rys., schem., wykr., wzory

Twórcy

autor

Skrzypczyk K.

• Institute of Automatic Control, Silesian University of Technology, Akademicka 16, 44- 100 Gliwice, Poland

autor

Gałuszka A.

• Institute of Automatic Control, Silesian University of Technology, Akademicka 16, 44- 100 Gliwice, Poland

autor

Antas T.

• Institute of Automatic Control, Silesian University of Technology, Akademicka 16, 44- 100 Gliwice, Poland

Bibliografia

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• [11] H. Singh and J. Singh: Human eye tracking and related issues: A review. Int. J. of Scientific and Research Publications, 2(9), (2012), 1-9.
• [12] M. Sydor: The Choice and Usage of the Wheelchair. Wydawnictwo Akademii Rolniczej im. A. Cieszkowskiego, Poznan, 2003, ISBN: 83-7160-315-0, (in Polish).
• [13] M. Tarek: Using ultrasonic and infrared sensors for distance measurement. World Academy of Science, Engineering and Technology, 27 (2009), available from: http://www.waset.org/journals/waset/v27/v27-51.pdf
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Uwagi

EN

The authors are pleased to acknowledge the financial support of the Polish Ministry of Science and Higher Education, Silesian University of Technology grant BK-227/RAu1/2015 in the year 2015.