An Adaptive Navigated Powered Wheelchairs System
Date Issued
2010
Date
2010
Author(s)
Chien, Jen-Chien
Abstract
Powered wheelchair is an important mobility aid for the elder and the disabled persons. However, accident may happen due to inappropriate usage. If the wheelchair has an auto-navigating system, mistaken manipulation and the waste of nursing will be decreased. However, GPS is not suitable for indoor.
This study presents an adaptive navigated powered wheelchair system. The wheelchair is build to meet the multiple-master multiple-slave (M3S) specification. An automatic navigated framework is also build into the wheelchair to facilitate indoor and outdoor use. This framework is installed with an intelligent routing heuristic algorithm derived from "greedy method" and "dynamic routing". Dijkstra algorithm (greedy method) is first used to show the shortest path. However, if the recommended path has obstacles, the path is marked and initiate backtracking reroute process using "dynamic routing" to select alternative route. In addition, in order to reduce computer memory space, dynamic partition programming is used to cut complex map into several simple pieces.
Simulation results with practical tests showed that this adaptive navigation system can automatically drive the wheelchair to its destination. This system will surely benefit the impaired. Thus, this system will be very helpful in airport, schools and hospitals.
Subjects
Intelligent Routing Method
Greedy Method
Dijkstra algorithm
Dynamic Partition Programming
Backtrack Reroute Process
Type
thesis
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