A Wheelchair Steered through Voice Commands and Assisted by a Reactive Fuzzy-Logic Controller

Authors:
Gabriel Pires;Urbano Nunes
Affiliations:
Institute of Systems and Robotics –/ Polo II, University of Coimbra, 3030 Coimbra, Portugal/ e-mail: gpires @isr.uc.pt;Institute of Systems and Robotics –/ Polo II, University of Coimbra, 3030 Coimbra, Portugal/ e-mail: urbano@isr.uc.pt
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

Citing 0
Cited 10

Using distributed systems in real-time control of autonomous vehicles

Robotica
Spatial routines for a simulated speech-controlled vehicle

Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
A Fast Firing Binaural System for Ultrasonic Pattern Recognition

Journal of Intelligent and Robotic Systems
Text entry for mobile devices and users with severe motor impairments: handiglyph, a primitive shapes based onscreen keyboard

Proceedings of the 10th international ACM SIGACCESS conference on Computers and accessibility
Smart wheelchair perception using odometry, ultrasound sensors, and camera

Robotica
A brain computer interface methodology based on a visual P300 paradigm

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Path following and obstacle avoidance fuzzy controller for mobile indoor robots

ROCOM'11/MUSP'11 Proceedings of the 11th WSEAS international conference on robotics, control and manufacturing technology, and 11th WSEAS international conference on Multimedia systems & signal processing
An integrated approach for head gesture based interface

Applied Soft Computing
Implementation of fuzzy logic controller in FPGA circuit for guiding electric wheelchair

ICAISC'12 Proceedings of the 11th international conference on Artificial Intelligence and Soft Computing - Volume Part II
Assisted navigation for a brain-actuated intelligent wheelchair

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper describes new results with a Reactive Shared-Control system that enables a semi-autonomous navigation of a wheelchair in unknown and dynamic environments. The purpose of the reactive shared controller is to assist wheelchair users providing an easier and safer navigation. It is designed as a fuzzy-logic controller and follows a behaviour-based architecture. The implemented behaviours are three: intelligent obstacle avoidance, collision detection and contour following. Intelligent obstacle avoidance blends user commands, from voice or joystick, with an obstacle avoidance behaviour. Therefore, the user and the vehicle share the control of the wheelchair. The reactive shared control was tested on the RobChair powered wheelchair prototype [6] equipped with a set of ranging sensors. Experimental results are presented demonstrating the effectiveness of the controller.