A Fuzzy Logic based control system for Electric Wheelchair obstacle avoidance

被引：2
|
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
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