Development Of Obstacle Avoidance Algorithm For Robotic Wheelchair

Ahmed Ismail, Amar Awad Mohamed (2017) Development Of Obstacle Avoidance Algorithm For Robotic Wheelchair. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

With the rising number of disabled people around the world and the increasing number of wheelchair users, research and developments have increased rapidly to produce autonomous and robotic wheelchairs that can avoid obstacles. This project proposes a behavior-based obstacle avoidance algorithm implemented using a fuzzy logic controller to ensure the safety of the wheelchair user. Two behaviors; Go-to-Goal and Avoid Obstacles are created using 11 fuzzy rules and are combined using rule weights. The proposed fuzzy logic controller has two inputs which are the target direction and the readings of three (IR) sensors attached to the right, left and front of the wheelchair and two outputs which are the linear velocities of the right and left motors. The testing and analysis of the controller are done using software simulation in MATLAB and Simulink environments. The results of the testing show that the proposed controller is effective in avoiding obstacles in low congested environments where the number of obstacles is low.

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