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Simulation of Fuzzy-Logic-Based Intelligent Wheelchair Control System

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Abstract

Fuzzy logic control system for an intelligent wheelchair aimed for assistance by the severely handicapped persons is presented in the paper. It is based on a computer simulation of wheelchair navigation, in which fuzzy logic enables control priority to smoothly alternate between manual and automatic control of the wheelchair in the vicinity of obstacles. The main purpose of designing and simulating this control approach is to improve the safety of a wheelchair in the presence of obstacles. To analyze the success of the wheelchair control, a dynamic model of the wheelchair, together with the models of distance sensors, has been developed using Lagrange analysis.

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Authors and Affiliations

  1. Faculty of Electrical Engineering, Ljubljana, Slovenia

    Iztok Špacapan & Tadej Bajd

  2. J. Stefan Institute, Ljubljana, Slovenia, and Nova Gorica Polytechnic, Nova Gorica

    Juš Kocijan

Authors
  1. Iztok Špacapan
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  2. Juš Kocijan
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  3. Tadej Bajd
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Špacapan, I., Kocijan, J. & Bajd, T. Simulation of Fuzzy-Logic-Based Intelligent Wheelchair Control System. Journal of Intelligent and Robotic Systems 39, 227–241 (2004). https://doi.org/10.1023/B:JINT.0000015419.17344.bd

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  • DOI: https://doi.org/10.1023/B:JINT.0000015419.17344.bd

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