NDLI: Development of Autonomous Robotic Wheelchair Controller Using Embedded Systems

Content Provider	IEEE Xplore Digital Library
Author	Chung-Hsien Kuo Hung-Wen Yeh Chin-En Wu Ko-Ming Hsiao
Copyright Year	2007
Description	Author affiliation: Nat. Taiwan Univ. of Sci. & Technol, kaohsiung (Chung-Hsien Kuo)
Abstract	Autonomous robotic wheelchairs play important roles to disabled persons or elders. In general, an autonomous robotic wheelchair includes the techniques of obstacle sensing and avoidance, local path navigation, and friendly interactions with users when compared to conventional powered wheelchairs. Most of researches on autonomous robotic wheelchairs used the personal computer as the supervisory controller since its powerful computing capacity and familiar coding environment. Nevertheless, the personal computer is not feasible to the wheelchair users due to inefficient size, lower reliability and larger power consumptions. To promote feasible robotic wheelchair control architecture, the embedded system is surveyed in this paper. By using the embedded computing architecture, the proposed robotic wheelchair controller performs characteristics of compact size, better reliability and lower power consumptions while the benefits of powerful computing capacity and familiar coding environment are maintained. On the other hand, this paper also implements the fuzzy logic based autonomous navigation functions such as goal-seeking, wall-following and obstacle avoidance. Theses fuzzy logic based navigation functions are fused together to solve practical situations of the robotic wheelchairs. Finally, a real robotic wheelchair with three-omni- wheel configuration is constructed based on the proposed control architecture, and several practical experiments are also discussed in this paper.
Starting Page	3001
Ending Page	3006
File Size	2211721
Page Count	6
File Format	PDF
ISBN	1424407834
ISSN	1553572X
DOI	10.1109/IECON.2007.4460343
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-11-05
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Wheelchairs Robot control Control systems Embedded system Robot sensing systems Navigation Microcomputers Power system reliability Energy consumption embedded computer autonomous navigations robotic wheelchair fuzzy logics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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