Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Study on the Path-Tracking of Electric Wheelchair Robot

전동휠체어 로봇의 경로추적제어에 관한 연구

  • Ahn, Kyoung-Kwan (School of Mechanical Engineering, Univ. of Ulsan) ;
  • Yoon, Jong-Il (Department of Mechanical and Automotive Engineering, Univ. of Ulsan) ;
  • Le, Duy Khoa (Department of Mechanical and Automotive Engineering, Univ. of Ulsan)
  • Received : 2011.01.20
  • Accepted : 2011.08.03
  • Published : 2011.11.01
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Abstract

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

Keywords

References

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