Autonomous wheelchair security based on local navigation in indoor environment with fuzzy motion control

被引：0
|
作者：
Baklouti, Emna [1 ]
Ben Amor, Nader [1 ]
Jallouli, Mohamed [1 ]
机构：
[1] Univ Sfax, ENIS, Comp & Embedded Syst Lab CES, Sfax, Tunisia
来源：
JOURNAL OF INFORMATION ASSURANCE AND SECURITY | 2016年 / 11卷 / 02期
关键词：
local navigation; obstacle avoidance; DVZ; FLC; goal tracking; motion control; 3D simulator; Wheelchair;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a three-dimensional (3D) wheelchair simulator implemented in Java/Java3D. In this simulator, the local obstacle avoidance problem is considered in detail. The wheelchair performs autonomous navigation based on, 3D laser proximity sensor, Deformable Virtual Zone (DVZ) obstacle detection and Fuzzy Logic obstacle avoidance Control (FLC). DVZ defines a risk zone around the wheelchair, in which the presence of an obstacle deforms its shape. The FLC drives the wheelchair reaction in real time according to this deformation, for both combined 3D obstacle avoidance and goal tracking behavior. Simulation results illustrate the effectiveness of the proposed control system on a virtual wheelchair.
引用
收藏
页码：107 / 116
页数：10
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