Autonomous Robotic Wheelchair

[Suby]

Design and development of voice-cum-auto steered

robotic wheelchair incorporating reactive fuzzy scheme for anti-collision and auto

routing

The paper focuses on the field problems encountered in voice control of the motorized wheelchairs and goes mapped design awareness, automated guideway control and voicecumauto steer control. The voice control is through the feature based,

language independent but speaker dependent, isolated word recognition system. IR rays and analyzing the  reflected signal from the obstacle. The output of these sensors, along with position/velocity sensors, are the inputs

to the fuzzy control algorithm. A 2D map of the space is fed into generate these maps by a walk through procedure during the training of the

wheelchair is also mentioned.

Need for the system:

Physically disabled persons find their movements very tough with the existing assistive devices. Though there are many robotics available in recent times to enable their motility they require fine and accurate control which is most of the times not possible in cases of higher disability. These robots are very efficient and enable the user to move around with ease. In recent times there have been various control systems developing specialized for people with various disorders and disabilities. This paper reports the preliminary work in developing a robotic wheelchair system that involves the movement of eyeball and shoulder kinematics in directing the wheel chair. The system enables the patient to have command over the robot, its direction of movement and will also sense and alarm the user about the obstacles in the path to avoid collision. This wheelchair helps the patient to move in environments with ramps and doorways of little space. This work is based on previous research in robot path planning and mobile robotics, generally a robot should be interactive, and robotic wheelchairs must be highly interactive to enable the system to work most efficiently.

[Bhupinder2]

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