Autonomous Navigation Power Wheelchair Using Distance Measurement Sensors and Fuzzy Control

거리측정 센서 스캐닝과 퍼지 제어를 이용한 전동 휠체어 자율주행 시스템

  • Kim, Kuk-Se (Department of Computer Engineering, Chosun University) ;
  • Yang, Sang-Gi (Department of Computer Engineering, Chosun University) ;
  • Rasheed, M. Tahir (Department of Information and Communication Engineering, Chosun University) ;
  • Ahn, Seong-Soo (Dongshin University) ;
  • Lee, Joon (Department of Computer Engineering, Chosun University)
  • 김국세 (조선대학교 컴퓨터공학과) ;
  • 양상기 (조선대학교 컴퓨터공학과) ;
  • ;
  • 안성수 (동신대학교) ;
  • 이준 (조선대학교 컴퓨터공학과)
  • Published : 2008.05.30


Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.