Development of agent-based autonomous robotic wheelchair control systems
Journal
Biomedical Engineering - Applications, Basis and Communications
Journal Volume
15
Journal Issue
6
Pages
223-234
Date Issued
2003
Author(s)
Abstract
In this paper, the intelligent and agent-based autonomous robotic wheelchair controller is proposed. The proposed agent-based autonomous robotic wheelchair control system consists of the functions of path planning, navigation and obstacle avoidance. In this work, the A* algorithm is used to develop the path planning module; the fuzzy logic is used to develop the obstacle avoidance and comfortable wheelchair motion control. Especially, the fuzzy fusion method is used to integrate the proposed fuzzy agent model. Finally, several cases of the individual agent execution, fuzzy module fusion, path planning, and wheelchair coordination are discussed, and the simulation results show that the proposed autonomous robotic wheelchair controller achieves the desired objectives. In addition, the agent-based design increases the model integrability and maintability.
Subjects
Algorithms
Autonomous agents
Collision avoidance
Control systems
Fuzzy sets
Motion planning
Fuzzy agent model
Wheelchair coordination
Robotics
algorithm
article
control system
disability
robotics
sensor
velocity
wheelchair
Type
journal article