High-precision coordinate control algorithms for smart wheelchair system for airport passengers with reduced mobility

• Main Author: Goh, Nigel Hao Han
• Other Authors: Wen Changyun
• Format: Final Year Project
• Language: English
• Published: 2017
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: http://hdl.handle.net/10356/71365
• Institution: Nanyang Technological University

The wheelchair is one of the most commonly used solution for people with mobility disabilities. In the world, there is approximately 65 million people who requires a wheelchair. The wheelchair not only allows the person to move about but also gives them a sense of independence and new-found confidence in themselves. Advancements in technology have allowed wheelchairs to operate with just the use of a joystick controlled by the person using the wheelchair. This reduces the energy required from the person to manually push the wheels using their hands but instead uses the motor to operate the wheelchair. However, there are patients who may not have sufficient motor skills in their hands to control the motor-powered wheelchairs. As such, the need for a person to push them returns and this would make the user feel dependent on the person pushing them. In this project, we will be considering various algorithms and using them in simulations. The aim of the project is to find an algorithm that is most applicable to a smart wheelchair that is capable of safely and efficiently follow the given route smoothly and in cohesion. The results obtained in our simulations will then be used to determine the best algorithm that is applicable to the smart wheelchair, based on the safety of the movement, efficiency and ability to move in a cohesive manner.