NDLI: Modeling and control techniques for electric powered wheelchairs: An overview

Content Provider	IEEE Xplore Digital Library
Author	Velazquez, R. Gutierrez, C.A.
Copyright Year	2014
Description	Author affiliation: Fac. de Cienc., Univ. Autonoma de San Luis Potosi, San Luis Potosi, Mexico (Gutierrez, C.A.) \|\| Lab. de Mecatronica y Control de Sist. (MCS), Univ. Panamericana, Aguascalientes, Mexico (Velazquez, R.)
Abstract	This paper presents an overview of the dynamics and control of electric powered wheelchairs (EPWs). A simple and reliable mathematical model for a wheelchair is first introduced. This model takes into account not only the vehicle's kinematics but also its most popular power module: DC motors. The equations governing the dynamics of the EPW allow a better understanding of its motion in a 2D environment. They can be therefore used to simulate the accessibility of an EPW prototype to selected places or buildings, to improve the skills of wheelchair users, and to test different algorithms for control, guidance, and obstacle avoidance. Next, several sensor-based control approaches are discussed such as sonar sensing, machine vision, and voice recognition.
Starting Page	1
Ending Page	6
File Size	1107267
Page Count	6
File Format	PDF
ISBN	9781479975846
DOI	10.1109/CONCAPAN.2014.7000435
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-11-12
Publisher Place	Panama
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control Wheelchairs Assistive robotics Simulation Electric powered wheelchair (EPW) Sonar Robot sensing systems DC motors PD control Mathematical model Modeling
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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