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Intelligent Control of a Semi-autonomous Assistive Vehicle

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Intelligent Systems and Applications (IntelliSys 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 294))

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Abstract

A control system for a powered wheelchair is described. The wheelchair is equipped with sensors to help a disabled user to steer their wheelchair. An innovative intelligent control schemes is presented. A model reference controller for veer regulation that can deal with variable operating conditions is presented. It is based on compensating the non-linear terms using an automatic adaptive scheme. The method specifically focuses on the design of a reliable veer controller capable of mitigating for uncertainties such as slopes, bumps, hills, differences in wheels and tires and changes to surfaces (for example one side more uneven than the other). The controller has been designed with a quasi-linear closed-loop behavior so that outer control loops can be added later such as path-following. A single powered wheelchair assistive agent was created to allow for future cooperation between wheelchair systems by sharing information. The work foresees the potential employment of semi-autonomous assistive agents within cooperative wheelchair systems.

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Acknowledgment

Research was supported by the EPSRC.

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Authors and Affiliations

  1. University of Portsmouth, Portsmouth, PO1 3DJ, UK

    David Sanders, Giles Tewkesbury, Malik Haddad & Ya Huang

  2. Institute of Information and Communication Technologies, Bulgarian Academy of Sciences, Sofia, Bulgaria

    Boriana Vatchova

Authors
  1. David Sanders
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  2. Giles Tewkesbury
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  3. Malik Haddad
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  4. Ya Huang
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  5. Boriana Vatchova
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Corresponding author

Correspondence to David Sanders .

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Editors and Affiliations

  1. Faculty of Science and Engineering, Saga University, Saga, Japan

    Kohei Arai

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Sanders, D., Tewkesbury, G., Haddad, M., Huang, Y., Vatchova, B. (2022). Intelligent Control of a Semi-autonomous Assistive Vehicle. In: Arai, K. (eds) Intelligent Systems and Applications. IntelliSys 2021. Lecture Notes in Networks and Systems, vol 294. Springer, Cham. https://doi.org/10.1007/978-3-030-82193-7_40

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