DESIGN AND IMPLEMENTATION OF CAMERA BASED LOCALIZATION SYSTEM ON ROBOTIC WHEELCHAIR

• Main Author: SHALIHUDDIN (NIM : 13311027); ALFIAN FERNANDHIKA (NIM : 13311099); Pembimbing : Augie Widyotr, M.ARIF
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/20269
• Institution: Institut Teknologi Bandung

Wheelchair, at the beginning of its history, was created to meet the human need for comfort. At its initial emergence, the whelchair is only used by the wealthy or <br /> <br /> <br /> nobility family as a means to relax. However, from the 1930s onwards, wheelchair began to function as an aids for people with disabilities. Since that time, wheelchair synonymous with the medical field in which the wheelchair is widely used in hospitals as a tool for the mobilization of the patient. Wheelchairs conventional technology continues to evolve as more and more users growth around the world. In the early 2000s, along with the development of information and communication technology, conventional wheelchair was developed into an electric wheelchair or a robotic wheelchair. The diversity of wheelchair users triggered the rapid development of technology in wheelchair. Development of the wheelchair is currently focusing in the interaction between the environment and the wheelchair users. One of these development that covered the interaction between wheelchair and its environment is a guiding system and location determination system using camera and laser. However, the use of camera is more common because the cost is cheaper than laser system. This location determination system using the camera will allow users with limited vision to know their position in an environment. With the text and voice output from the system, the user can know their position towards the end of the corridor. This system based on the measurement of the distance between the wheelchair and the end of the corridor, and from the test provides a minimum level of accuracy of 97.99% with a minimum precision of 98.53%. On the other hand, this system provides the level of accuracy of at least 77.42% with a precision of at least 90.45% when used to measure the distance toward the side wall of the corridor. This system then implemented in collaborative control system to improve the ability of ultrasonic-based guiding system.