Wheelchair motion control guide using eye gaze and blinks based on Bug algorithms

In the present study, we put forward a new approach together with the classic method, to direct the powered wheelchair by means of eye movements. At the same time as the wheelchair automatically travels towards the location of the desired destination, the user is granted to look around without restraints. Only Electro-Oclography (EOG) signals are used to guide the wheelchair; eye gazes and blinks. Switching between guiding methods; typical manual method and developed automatic method, can be done any time by the user. In the proposed guiding approach; by scheming the gaze angle of the wheelchair user, the control unit is able to obtain the desired point location; distance and direction. Bug algorithms are employed to guide the wheelchair in the automatic guiding approach. Two different Bug algorithms are utilized to navigate the wheelchair in the auto controlling method. A comparison is discussed between Bug2 and Tangent-Bug, algorithms. Experimental tests show slightly different results than theory, because the bug algorithms cannot continuously update the robot´s position data in experiments.