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http://dx.doi.org/10.5302/J.ICROS.2013.13.1905

Collision Avoidance Algorithm of an Intelligent Wheelchair Considering the User's Safety with a Moving Obstacle  

Kim, Yong Hwi (Department of Electrical and Electronic Engineering, Yonsei University)
Yoon, Tae Sung (Department of Electrical Engineering, Changwon National University)
Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.10, 2013 , pp. 936-940 More about this Journal
Abstract
As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair's velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.
Keywords
collision avoidance; intelligent wheelchair; moving obstacle; velocity obstacle;
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Times Cited By KSCI : 1  (Citation Analysis)
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