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Description:
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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 . |