Wall following control for the application of a brain-controlled wheelchair

Author

Gunachandra ; Chrisander, Sylvester ; Widyotriatmo, Augie ; Suprijanto

Author_Institution

Fac. of Ind. Technol., Instrum. & Control Res. Group Eng. Phys., Bandung Inst. of Technol., Bandung, Indonesia

fYear

2014

fDate

19-21 Aug. 2014

Firstpage

36

Lastpage

41

Abstract

This paper presents the implementation of a wall following control for the application of a brain-controlled wheelchair. The control objective is to make electric wheelchair can go forward at a certain distance and at zero angle with a wall. The electric wheelchair is equipped with ultrasonic transducers to detect the distance and the angle between the wheelchair and the wall. The control algorithm is derived using Lyapunov method and the stability of the system is assured. The wheelchair is also combined with adaptive control in order that the desired speed of both motors is achieved and to make the performance of wall following motion more stable. The effectiveness of the proposed method is shown by experimental results.

Keywords

Lyapunov methods; adaptive control; brain-computer interfaces; control engineering computing; handicapped aids; medical robotics; mobile robots; motion control; stability; ultrasonic transducers; wheelchairs; Lyapunov method; adaptive control; brain-controlled wheelchair; electric wheelchair; motors; system stability; ultrasonic transducers; wall following control; wall following motion; Equations; Lyapunov methods; Mathematical model; Mobile robots; Ultrasonic transducers; Wheelchairs; Wheels; Lyapunov method; Robotic wheelchair; ultrasonic; wall following control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Autonomous Agents, Networks and Systems (INAGENTSYS), 2014 IEEE International Conference on

Conference_Location

Bandung

Print_ISBN

978-1-4799-4803-1

Type

conf

DOI

10.1109/INAGENTSYS.2014.7005722

Filename

7005722