Autonomously Controlled Intelligent Wheelchair System for Indoor Areas

Şahin, Halil İbrahim; Kavsaoğlu, Ahmet Reşit

doi:10.1109/hora52670.2021.9461335

Cited by 8 publications

(3 citation statements)

References 27 publications

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“…The reason behind this is that most wheelchair users have certain control over their physical faculties and would want to have more control of their day-to-day lives. [34], [36]- [41] Work has been carried out to understand surrounding environment while navigating assistive robots or autonomous vehicles. Different approaches were taken to represent spatial information about the environment.…”

Section: Related Workmentioning

confidence: 99%

Hybrid Navigation Decision Control Mechanism for Intelligent Wheel-Chair

Bandara,

Priyanayana,

Chandima

et al. 2023

IEEE Access

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The continuous rising of the elderly/disabled population has created a requirement for assistive robotics devices to counter the lack of trustworthy servants. Intelligent Wheelchairs are developed for that particular purpose. Intelligent Wheelchairs differ depending on the interactive modality and most commonly found modalities are speech-controlled. Since these are assistive devices that need to act as human companions, it is necessary to have a dialogue between the device and the user. Even though the wheelchair is fully automated, the user should have control over it at some point. However, this exchange of control should be intelligent and transitions need to be executed in order to safeguard the user. Therefore the purpose of this paper is to propose an intelligent system that would navigate an intelligent voice-controlled wheelchair facilitating the intelligent exchange of control between the user and the wheelchair. This control is not simultaneous and one can override the other only when navigation could lead to collisions. In the proposed method, users can control the wheelchair using fixed vocal commands, and execution of those commands will be performed using the spatial and control parameters. Control of the wheelchair will be exchanged between the user and the wheelchair itself considering specific parameters such as obstacle distance, collision time, the velocity of the wheelchair among others. User control mode has 5 definite vocal commands with classifiers to identify any navigation command into the command model and considers uncertain terms such as 'little' and 'hard' for 'Turn' commands. Command classification had produced a Cohen's Kappa value of 0.9462 and the classifier for the uncertain terms had produced a Cohen's Kappa value of 0.7325. Both were acceptable values for those particular classifications. As per the experiment results, the proposed system reduced the vocal command frequency and risk of collisions through proper control of the velocity levels and intelligent exchange of control at given locations.

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Section: Related Workmentioning

confidence: 99%

Hybrid Navigation Decision Control Mechanism for Intelligent Wheel-Chair

Bandara,

Priyanayana,

Chandima

et al. 2023

IEEE Access

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“…In an important study on vision based control process, the autonomous corridor following problem is solved using features like vanishing point and straight lines for the indoor environment [10]. Design of a line following wheelchair for visually impaired and paralyzed patients is also one of the indoor environment studies [11][12]. As a particular task in this study, we tackle sidewalk following in outdoor environment.…”

Section: Introductionmentioning

confidence: 99%

Untitled

2024

Adv. Electr. Comp. Eng.

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This paper presents a study that focuses on sidewalk following problem of an autonomous wheelchair. The main goal is to propose a solution to the urban mobility problem of people with walking disabilities. The study offers an efficient control system design for this task. A linearized wheelchair model is constructed and image-based visual servoing is introduced to evaluate the performance of tracking yellow tactile pavement on sidewalk with optimal control. Reference trajectory sets are created using robust vanishing point for sidewalk following by employing the Hough Lines method. These reference paths are tested with two control methods of Linear Quadratic Regulator (LQR) control and Pole Placement (PP) control. Both control methods are applied through simulation on the autonomous wheelchair model, and efficacy of sidewalk following under these control methods is discussed comparatively. Disturbance attenuation results of the given optimal control methods and simulation outputs prove the efficacy of the model and the designed control systems. LQR control method proves to have better performance in system response in comparison to PP control method.

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“…An autonomously controlled intelligent wheelchair is an electric wheelchair system that can reach the desired position by finding paths without user intervention. Pathfinding can be performed in outdoor areas with the support of a global positioning system (GPS), while interior mapping is required for indoor regions [7]. S. Zhu et al focus on the control of a simulated robot hand using a data glove, which gathers information from resistors that measure the flexion of the user's fingers [8].…”

Section: Introductionmentioning

confidence: 99%

A Simulated 3D Printer in CoppeliaSim

Chakraborty

Aithal

2022

IJAEML

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Purpose: Now, 3D Printer is becoming popular. Not only used for printing toys but also to print some needful items for prototyping. We go for final production after prototype approval. So the researcher needs a 3D printer for their research. A good 3D printer is not only costly but cumbersome also. Carrying a 3D printer is too much problem. We can use the simulator to continue our research work in this scenario. Here we provide the procedure for building a 3D printer in the simulator. We used Coppeliasim to make it. It is an excellent open-source simulator. It has a good user interface. Following the step, the researcher can build it quickly. All project code and simulator files are available for the researcher in Github. They can download, use and integrate into their project without any issues. Design/Methodology/Approach: In the CoppeliaSim simulator, we created a 3D printer model. We adopted the Ender 3D printer specification, a popular and economical 3D printer. After completing the model, we add the LUA script associated with the base. Some code is kept as a module inside the project folder for better understanding. After running the simulation, it will draw a square on the work area for the working demonstration. Findings/Result: We can create a virtual 3D printer through this research work. So without having an actual printer, we can test our written algorithm, try the 3D model file, and understand the functionality of the 3D Printer. It can be integrated into the researcher’s project by customizing some physical parameters or making a different 3D printer model following the procedure described here. Originality/Value: This research work may add value to the researcher’s work. We provide the information on creating a workable 3D printer as simple as possible in the CoppeliaSim robot simulator. Customizing some physical parameters can be a tool to help the research work rapidly. Paper Type: Simulation-based Research.

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Autonomously Controlled Intelligent Wheelchair System for Indoor Areas

Cited by 8 publications

References 27 publications

Hybrid Navigation Decision Control Mechanism for Intelligent Wheel-Chair

Hybrid Navigation Decision Control Mechanism for Intelligent Wheel-Chair

Untitled

A Simulated 3D Printer in CoppeliaSim

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