Autonomous robotic wheelchair with collision-avoidance navigation

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Title: Autonomous robotic wheelchair with collision-avoidance navigation
Author: Hsieh, Pin-Chun
Abstract: The objective of this research is to demonstrate a robotic wheelchair moving in an unknown environment with collision -avoidance navigation . A real -time path -planning algorithm was implemented by detecting the range to obstacles and by tracking specific light sources used as beacons . Infrared sensors were used for range sensing , and light -sensitive resistors were used to track the lights . To optimize the motion trajectory , it was necessary to modify the original motor controllers of the electrical wheelchair so that it could turn in a minimum turning radius of 28 .75 cm around its middle point of axle . Then , with these kinematics , the real -time path planning algorithm of the robotic wheelchair is simplified . In combination with the newly developed wireless Internet -connection capability , the robotic wheelchair will be able to navigate in an unknown environment . The experimental results presented in this thesis include the performance of the control system , the motion trajectory of the two driving wheels turning in a minimum radius , and the motion trajectory of the real -time path -planning in a real -life testing environment . These experimental results verified that the robotic wheelchair could move successfully in an unknown environment with collision -avoidance navigation .
URI: http : / /hdl .handle .net /1969 .1 /86037
Date: 2008-10-10

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Autonomous robotic wheelchair with collision-avoidance navigation. Available electronically from http : / /hdl .handle .net /1969 .1 /86037 .

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