Modeling and control techniques for electric powered wheelchairs: An overview

This paper presents an overview of the dynamics and control of electric powered wheelchairs (EPWs). A simple and reliable mathematical model for a wheelchair is first introduced. This model takes into account not only the vehicle´s kinematics but also its most popular power module: DC motors. The equations governing the dynamics of the EPW allow a better understanding of its motion in a 2D environment. They can be therefore used to simulate the accessibility of an EPW prototype to selected places or buildings, to improve the skills of wheelchair users, and to test different algorithms for control, guidance, and obstacle avoidance. Next, several sensor-based control approaches are discussed such as sonar sensing, machine vision, and voice recognition.