NDLI: Adaptive intelligent assistance control of electrical wheelchairs by grey-fuzzy decision-making algorithm

Content Provider	IEEE Xplore Digital Library
Author	Luo, R.C. Tse Min Chen Chi-Yang Hu Zu Hung Hsiao
Copyright Year	1999
Description	Author affiliation: Dept. of Electr. Eng., Nat. Chung Cheng Univ., Chia-Yi, Taiwan (Luo, R.C.)
Abstract	Many potential accidents due to direct control of electrical wheelchair may be occurred by unreasonable control in various internal or external environmental conditions, such as the uncertainties of the front caster wheels and the unbalanced friction condition between wheels and floor. This paper presents a grey-fuzzy decision-making (GFD) algorithm based on grey prediction theory and fuzzy logic theory. The GFD is able to estimate optimal parameters approximating to the real system dynamics mode according to the observed information. The application of intelligent assistant control of an electrical wheelchair investigated. We conduct the experiments by multisensor based wheelchairs "Luoson#1" and "Luoson#3". The GFD controller is presented to integrate the electronic compass and dead reckoning measurements for the reduction of the influence caused by the uncertainties. The results have demonstrated the system capability for the increased certainty and safety to operate the electrical wheelchairs.
Starting Page	2014
Ending Page	2019
File Size	544201
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.770403
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Intelligent control Wheelchairs Wheels Accidents Uncertainty Friction Decision making Prediction theory
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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