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A Study on the Path-Tracking of Electric Wheelchair Robot  

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)
Publication Information
Journal of the Korean Society for Precision Engineering / v.28, no.11, 2011 , pp. 1265-1271 More about this Journal
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
Path-Tracking; Electric Wheelchair; Mobile Robot; Navigation; Welfare Vehicle; Fuzzy Logic Controller;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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