A Fuzzy Logic based control system for Electric Wheelchair obstacle avoidance

被引：1
|
作者：
Rabhi, Yassine [1 ]
Tlig, Lotfi [1 ]
Mrabet, Makrem [1 ]
Sayadi, Mounir [1 ]
机构：
[1] Univ Tunis, Res Lab SIME 1008, ENSIT, Montfleury, Tunisia
来源：
PROCEEDINGS OF THE 2022 5TH INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND EMERGENT TECHNOLOGIES IC_ASET'2022) | 2022年
关键词：
Obstacle avoidance; Electric Wheelchair; Fuzzy Logic; Ultrasonic sensors;
D O I：
10.1109/IC_ASET53395.2022.9765828
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper proposes a shared-control system for electric wheelchair (EWC) to avoid obstacles with a fuzzy logic (FL) based strategy. A fuzzy logic controller is integrated into an existent electric wheelchair to decrease the risk of crashes and collisions while navigating in a crowded room. An Arduino micro-controller connected to 3 ultrasonic sensors detects distances to obstacles around the wheelchair within a radius of 90 degrees. It sends data to a Raspberry pi II microprocessor on which we have implemented our Fuzzy logic based algorithm of obstacle avoidance. The data resulting from the fuzzy algorithm control the wheelchair's linear acceleration. The software is implemented on the Unix Platform. 4 data sets are used to test the controller. Experimental results give us new adjusted acceleration values.
引用
收藏
页码：313 / 318
页数：6
相关论文
共 50 条
  • [1] Fuzzy Algorithm Based Obstacle Avoidance Control of Electric Powered Wheelchair using Ultrasonic Sensor
    Murakami, Hiroki
    Seki, Hirokazu
    [J]. IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6, 2009, : 4038 - +
  • [2] Fuzzy inference based obstacle avoidance control of electric powered wheelchair considering driving risk
    Kiso, Atsushi
    Murakami, Hiroki
    Seki, Hirokazu
    [J]. IEEJ Transactions on Electronics, Information and Systems, 2012, 132 (06): : 952 - 959
  • [3] Fuzzy logic control of an obstacle avoidance robot
    Lian, SH
    [J]. FUZZ-IEEE '96 - PROCEEDINGS OF THE FIFTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, 1996, : 26 - 30
  • [4] Fuzzy Logic System Based Obstacle Avoidance for a Mobile Robot
    Jin, Sheng
    Choi, Byung-Jae
    [J]. CONTROL AND AUTOMATION, AND ENERGY SYSTEM ENGINEERING, 2011, 256 : 1 - 6
  • [5] APF-based Control for Obstacle Avoidance in Smart Electric Wheelchair Navigation
    Manta, Liviu Florin
    Pana, Cristina Floriana
    Cojocaru, Dorian
    Vladu, Ionel Cristinel
    Patrascu-Pana, Daniela Maria
    Dragomir, Andrei
    [J]. 2021 22ND INTERNATIONAL CARPATHIAN CONTROL CONFERENCE (ICCC), 2021, : 145 - 150
  • [6] PID Control and Fuzzy Logic System to the Obstacle Avoidance in an Autonomous Robot
    Meza Solano, Dionicio
    Eusebio Grande, Raul
    Ibarra Bonilla, Mariana N.
    [J]. 2021 18TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE 2021), 2021,
  • [7] Fuzzy Logic Based Regenerative Braking Control System of Electric Wheelchair for Senior Citizen
    Takahashi, Yoshiaki
    Seki, Hirokazu
    [J]. 2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2, 2009, : 844 - 849
  • [8] Application of Fuzzy Control Technology in a Sonar-Based Obstacle Avoidance Intelligent Wheelchair
    Su, Ting
    Cao, Guohua
    Hu, Jihua
    [J]. MECHATRONICS AND INDUSTRIAL INFORMATICS, PTS 1-4, 2013, 321-324 : 2004 - 2008
  • [9] Dynamic Obstacle Avoidance Based on Obstacle Type for Interactive Smart Electric Wheelchair
    Sawada, Yasuyuki
    Niitsuma, Mihoko
    [J]. PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2016, : 5891 - 5896
  • [10] WHEELCHAIR OBSTACLE AVOIDANCE BASED ON FUZZY CONTROLLER AND ULTRASONIC SENSORS
    Njah, Malek
    Jallouli, Mohamed
    [J]. 2013 INTERNATIONAL CONFERENCE ON COMPUTER APPLICATIONS TECHNOLOGY (ICCAT), 2013,
12345