Automatic Guided Intelligent Wheelchair System Using Hierarchical Grey-Fuzzy Motion Decision-Making Algorithms
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 1999)
Pages
900 -905
Date Issued
1999-01
Author(s)
Abstract
The development of intelligent wheelchairs can bring a good solution to assist severely handicapped people who are unable to operate the classical electrical wheelchair by themselves in their daily activities. In this paper we have developed a new concept on automatic guided intelligent wheelchair system, through which the wheelchair users can extend their activity area from a priori known environment as many autonomous approaches addressed. We describe a hierarchical look-ahead grey-fuzzy decision motion algorithm for the tracking control of the wheelchair to follow a guiding service robot in an unknown environment. We have developed a multisensor based intelligent wheelchair prototype called Luoson III to work with the previous built autonomous guiding service robot Chung-Cheng 1. The experimental results have demonstrated the success for the motion decision algorithm and the whole concept.
SDGs
Type
conference paper