Development And Analysis Of Obstacle Avoidance Algorithm For Robotic Wheelchair With Shared Control

Arif Zaim, Zawir Abdullah (2015) Development And Analysis Of Obstacle Avoidance Algorithm For Robotic Wheelchair With Shared Control. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Robotic wheelchair technology has been in research for quite number of years. The aim is basically to move an ederly or disable person from one place to another. Some of the genius invention robotic wheelchair was developed by the researcher to ensure the robotic wheelchair will provide safety and comfort to the user. One of the invention is to developmentof an obstacle avoidance algorithm that can be implement to the robotic whelchair. This final project paper objective is to develop an Obstacle Avoidance Algorithm with shared control that can be implemented to the robotic wheelchair. This Algorithm can somehow provide the ability to make decision to switch between controllers from Go-to-Goal controller and Avoid Obstacle controller. The first step is to develop a Go-to-Goal controller followed by Avoid obstacle controller. Then both controllers are either blend or switch between both of them. The analysis is conducted based on the robot simulation result of the final coordinate value of the robot and the difference between the robot heading angle and the reference angle. The analysis also will done based on the gain of the Proportional, Kp, Intergral, Ki, and Derivatives, Kd, of the controller that is crutial to steer the robot to desired angle with a stable and movement.

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