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Presenter : Jaya Bhanu RaoSupervisor : Dr. John Hedley Date : 20 July 2015
Newcastle University 1
WORLD CONGRESS ON INDUSTRIAL AUTOMATION 2015
Disabled or elderly people unable to manoeuvre powered wheelchair smoothly due to frail and lack of dexterity in handling joystick movement.
Leads to fatigue and discomfort to wheelchair users.
Smooth wheelchair movement and transition are needed to overcome this problem.
Newcastle University 2
To develop a robust algorithm to detect and avoid static and dynamic obstacles.
To develop a control system which can assist the wheelchair user in minimising the sharp shifting of wheelchair movement.
To validate wheelchair navigation via joystick using Matlab and Player/Stage simulation on Ubuntu 12.04LTS platform.
Newcastle University 3
Go To Target
Laser Obstacle Avoidance
Unobserved Obstacle Avoidance
Follow the Leader
Emergency Stop
Env
iron
men
t
Fuz
zy L
ogic
Σ
Laser
Input Device (User)
Laser
Laser
Laser
Converter
MCU
Motor Controller
Perception Reactive Module
Support AI Motor Schema
vect
or
weightage
vect
or
Out
put v
ecto
r
Spe
ed, t
urnr
ate
ν, Ω
Action
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Point distance based segmentation (PBDS)
K.Rebai et. al. 2009
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• Collision avoidance can be divided into static and dynamic obstacle. These obstacles can be avoided with collision avoidance behaviour which is based upon VO method and Collision Cone principle.
Newcastle University 7
Fiorini and Shiller, 1998; Chakravarthy and Ghose, 1998
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The inputs of the emergency stop behaviour include the sensor data and the maximum weight of the wheelchair speed. This behaviour becomes active if the minimum distance to the obstacle is below a minimum specific threshold or the maximum weight of the robot velocity is zero.
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Ceballos et al., 2010
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Based on the simulated results it have been proven that there was a significant improvement in the wheelchair movement with Fuzzy Inference System.
Further work will be carried out to introduce other behaviours and to further improve the performance of the system.
Newcastle University 16
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