Assistive technology: autonomous wheelchair in obstacle-ridden environment

The benefits for the advancement and enhancement of assistive technology are manifold. However, improving accessibility for persons with disabilities (PWD) to ensure their social and economic inclusion makes up one of the major ones in recent times. This paper presents a set of new nonlinear time-in...

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Autores principales:	Sandeep Ameet Kumar, Jito Vanualailai, Avinesh Prasad
Formato:	article
Lenguaje:	EN
Publicado:	PeerJ Inc. 2021
Materias:	Wheelchair Assistive technology Autonomous system Collision avoidance Stabilizing controllers Motion planning Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/40653492abb04d2f9c1b6f48c0a76264
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id	oai:doaj.org-article:40653492abb04d2f9c1b6f48c0a76264
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spelling	oai:doaj.org-article:40653492abb04d2f9c1b6f48c0a762642021-11-05T15:05:10ZAssistive technology: autonomous wheelchair in obstacle-ridden environment10.7717/peerj-cs.7252376-5992https://doaj.org/article/40653492abb04d2f9c1b6f48c0a762642021-11-01T00:00:00Zhttps://peerj.com/articles/cs-725.pdfhttps://peerj.com/articles/cs-725/https://doaj.org/toc/2376-5992The benefits for the advancement and enhancement of assistive technology are manifold. However, improving accessibility for persons with disabilities (PWD) to ensure their social and economic inclusion makes up one of the major ones in recent times. This paper presents a set of new nonlinear time-invariant stabilizing controllers for safe navigation of an autonomous nonholonomic rear-wheel drive wheelchair. Autonomous wheelchairs belong to the category of assistive technology, which is most sought in current times due to its usefulness, especially to the less abled (physically and/or cognitively), hence helping create an inclusive society. The wheelchair navigates in an obstacle-ridden environment from its start to final configuration, maintaining a robust obstacle avoidance scheme and observing system restrictions and dynamics. The velocity-based controllers are extracted from a Lyapunov function, the total potentials designed using the Lyapunov based Control Scheme (LbCS) falling under the classical approach of the artificial potential field method. The interplay of the three central pillars of LbCS, which are safety, shortness, and smoothest course for motion planning, results in cost and time effectiveness and the velocity controllers’ efficiency. Using the Direct Method of Lyapunov, the stability of the wheelchair system has been proved. Finally, computer simulations illustrate the effectiveness of the set of new controllers.Sandeep Ameet KumarJito VanualailaiAvinesh PrasadPeerJ Inc.articleWheelchairAssistive technologyAutonomous systemCollision avoidanceStabilizing controllersMotion planningElectronic computers. Computer scienceQA75.5-76.95ENPeerJ Computer Science, Vol 7, p e725 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Wheelchair Assistive technology Autonomous system Collision avoidance Stabilizing controllers Motion planning Electronic computers. Computer science QA75.5-76.95
spellingShingle	Wheelchair Assistive technology Autonomous system Collision avoidance Stabilizing controllers Motion planning Electronic computers. Computer science QA75.5-76.95 Sandeep Ameet Kumar Jito Vanualailai Avinesh Prasad Assistive technology: autonomous wheelchair in obstacle-ridden environment
description	The benefits for the advancement and enhancement of assistive technology are manifold. However, improving accessibility for persons with disabilities (PWD) to ensure their social and economic inclusion makes up one of the major ones in recent times. This paper presents a set of new nonlinear time-invariant stabilizing controllers for safe navigation of an autonomous nonholonomic rear-wheel drive wheelchair. Autonomous wheelchairs belong to the category of assistive technology, which is most sought in current times due to its usefulness, especially to the less abled (physically and/or cognitively), hence helping create an inclusive society. The wheelchair navigates in an obstacle-ridden environment from its start to final configuration, maintaining a robust obstacle avoidance scheme and observing system restrictions and dynamics. The velocity-based controllers are extracted from a Lyapunov function, the total potentials designed using the Lyapunov based Control Scheme (LbCS) falling under the classical approach of the artificial potential field method. The interplay of the three central pillars of LbCS, which are safety, shortness, and smoothest course for motion planning, results in cost and time effectiveness and the velocity controllers’ efficiency. Using the Direct Method of Lyapunov, the stability of the wheelchair system has been proved. Finally, computer simulations illustrate the effectiveness of the set of new controllers.
format	article
author	Sandeep Ameet Kumar Jito Vanualailai Avinesh Prasad
author_facet	Sandeep Ameet Kumar Jito Vanualailai Avinesh Prasad
author_sort	Sandeep Ameet Kumar
title	Assistive technology: autonomous wheelchair in obstacle-ridden environment
title_short	Assistive technology: autonomous wheelchair in obstacle-ridden environment
title_full	Assistive technology: autonomous wheelchair in obstacle-ridden environment
title_fullStr	Assistive technology: autonomous wheelchair in obstacle-ridden environment
title_full_unstemmed	Assistive technology: autonomous wheelchair in obstacle-ridden environment
title_sort	assistive technology: autonomous wheelchair in obstacle-ridden environment
publisher	PeerJ Inc.
publishDate	2021
url	https://doaj.org/article/40653492abb04d2f9c1b6f48c0a76264
work_keys_str_mv	AT sandeepameetkumar assistivetechnologyautonomouswheelchairinobstacleriddenenvironment AT jitovanualailai assistivetechnologyautonomouswheelchairinobstacleriddenenvironment AT avineshprasad assistivetechnologyautonomouswheelchairinobstacleriddenenvironment
_version_	1718444155951120384

Assistive technology: autonomous wheelchair in obstacle-ridden environment

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