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Stefan cel Mare
University of Suceava
Faculty of Electrical Engineering and
Computer Science
13, Universitatii Street
Suceava - 720229
ROMANIA

Print ISSN: 1582-7445
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WorldCat: 643243560
doi: 10.4316/AECE


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  1/2024 - 1
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Design and Analysis of a Novel Sidewalk Following Visual Controller for an Autonomous Wheelchair

UGUR, E. See more information about UGUR, E. on SCOPUS See more information about UGUR, E. on IEEExplore See more information about UGUR, E. on Web of Science, KARA, T. See more information about  KARA, T. on SCOPUS See more information about  KARA, T. on SCOPUS See more information about KARA, T. on Web of Science, ABDULHAFEZ, A. See more information about  ABDULHAFEZ, A. on SCOPUS See more information about  ABDULHAFEZ, A. on SCOPUS See more information about ABDULHAFEZ, A. on Web of Science, OSMAN, I. H.
 
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Download PDF pdficon (2,254 KB) | Citation | Downloads: 860 | Views: 577

Author keywords
assistive technology, control design, modeling, optimal control, visual servoing

References keywords
control(16), design(14), wheelchair(12), systems(10), intelligent(9), controller(8), robot(7), pole(7), placement(7), navigation(7)
Blue keywords are present in both the references section and the paper title.

About this article
Date of Publication: 2024-02-29
Volume 24, Issue 1, Year 2024, On page(s): 3 - 14
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2024.01001
SCOPUS ID: 85189443397

Abstract
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This paper presents a study that focuses on sidewalk following problem of an autonomous wheelchair. The main goal is to propose a solution to the urban mobility problem of people with walking disabilities. The study offers an efficient control system design for this task. A linearized wheelchair model is constructed and image-based visual servoing is introduced to evaluate the performance of tracking yellow tactile pavement on sidewalk with optimal control. Reference trajectory sets are created using robust vanishing point for sidewalk following by employing the Hough Lines method. These reference paths are tested with two control methods of Linear Quadratic Regulator (LQR) control and Pole Placement (PP) control. Both control methods are applied through simulation on the autonomous wheelchair model, and efficacy of sidewalk following under these control methods is discussed comparatively. Disturbance attenuation results of the given optimal control methods and simulation outputs prove the efficacy of the model and the designed control systems. LQR control method proves to have better performance in system response in comparison to PP control method.


References | Cited By  «-- Click to see who has cited this paper

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References Weight

Web of Science® Citations for all references: 359 TCR
SCOPUS® Citations for all references: 5,994 TCR

Web of Science® Average Citations per reference: 8 ACR
SCOPUS® Average Citations per reference: 139 ACR

TCR = Total Citations for References / ACR = Average Citations per Reference

We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more

Citations for references updated on 2024-05-23 04:28 in 216 seconds.




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