Title :
Hardware and software solutions for a conventional electric-powered wheelchair
Author :
Chipaila, Ciprian Marian ; Grigore, Daniel ; Marin, Gheorghita ; Solea, Razvan ; Cernega, D.C.
Author_Institution :
Fac. of Autom. Control, Comput., Electr. & Electron. Eng., “Dunarea de Jos” Univ. of Galati, Galati, Romania
Abstract :
In this paper is presented a hardware and software solution for controlling an electric-powered wheelchair for persons with disabilities. It was implemented an odometric system using two encoders and the programmable environment Matlab/Simulink, also it has been design an PI controller for the DC motors. It is also presented an obstacle avoidance system using an laser sensor. To verify the effectiveness of proposed solution, experiments were carried out. The wheelchair platform considered in this paper is a differential drive platform with two passive front caster wheels and two active rear wheels.
Keywords :
DC motor drives; PI control; collision avoidance; control engineering computing; control system synthesis; electric vehicles; handicapped aids; laser ranging; machine control; wheelchairs; wheels; DC motors; Matlab/Simulink; PI controller design; active rear wheels; differential drive platform; disabled person; electric-powered wheelchair control; encoders; hardware solutions; laser sensor; obstacle avoidance system; odometric system; passive front caster wheels; programmable environment; software solutions; Collision avoidance; DC motors; MATLAB; Mathematical model; Robots; Wheelchairs; Wheels;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2012 16th International Conference on
Conference_Location :
Sinaia
Print_ISBN :
978-1-4673-4534-7
