The percentage of people with disabilities (PWDs) kept increasing in each year, and the demanding usage of wheelchair is also increased. This leads to more innovation which will be focused on wheelchair such as electric-powered wheelchair (EPW) and autonomous wheelchair. The innovations of the wheelchair tend to aid the PWDs with their daily routines, and it seems more acceptable in the society. When the demand for EPW is increased, the numbers of accidents among the EPW might be increased. The objective of this study is to improve the safety system of EPW by estimating the velocity of EPW. From the velocity of EPW, the autonomous system can be embedded in the EPW in order to prevent the collision. The first phase of this study is to conduct the experiment to analyse the rotational speed of the tire during straight line and obstacle avoidance. Then, the simulation is developed to design the EPW and state observer for estimating the speed of EPW. In the modelling of EPW, the input is voltage and the output is the rotational speed of the tire. Then, the modelling is validated by comparing with the experimental results. The last phase of this study is to add the state observer in the modelling to estimate the speed of EPW. In the state observer, the experimental value from the rotational tire speed will be used as a reference and compared with the simulation. The error between the experimental and simulation value is known as estimation error, and the state observer will minimize the error to get the estimated data. By estimating the velocity of the EPW, the speed of the EPW during the cornering, obstacle avoidance and straight line could be known. The focus of this study is at first and second phases, which focus on experiments to measure the rotational speed of the tire and modelling the EPW. The results shows that the error between the experimental and simulation value is below 10%, and the modelling can be used for the state observer to estimate the speed of EPW.
An addendum of People with Disabilities (PWDs) worldwide quite worries the World Health Organization in which they are consist of people that incapability of doing their own daily routine without the aid of a third party. The third party may consist of a person or a specific equipment or tools that could aid for their daily mobility. This paper tends to help PWDs with their daily routine by introducing a path planning method that recognize the trajectory of the route by using the Artificial Potential Field Method (APF) that will act as an algorithm in a control system of an Electric Powered Wheelchair (EPW). The EPW will be modelled into the MATLAB and Simulink according to the parameters such as inductance, resistance, and driving torque that is exactly as an actual model. Artificial Potential Field Method (APF) are consist of two main force field, Repulsive Force Field (RFF) and Attractive Force Field (AFF). The Repulsive Force Field (RFF) is designated as obstacle on a path whereas influencing the EPW to navigate away from the obstacle. While the Attractive Force Field (AFF) act as goal or the destination that designated for the EPW in which the EPW will be navigated in a way by approaching towards the AFF. The RFF consists of spacing headway that defines the distance from the obstacle to the EPW and while the limit distance is the maximum distance for the EPW to navigate away from the obstacle before the EPW collides with the obstacle. The strategy is to control the trajectory of the EPW during the obstacle avoidance with yaw angular velocity of the EPW. With spacing headway, limit distance and yaw angular velocity results, the trajectory of the EPW during the obstacle avoidance could be determined.
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