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Control System Design for Smart Wheelchair Robot
Anshar M.
Aip Conference Proceedings
Abstract
Over 1 billion people or approximately 15% of the world population that have disabilities levels and lesser access to health facilities. The majority of this population with physical disabilities, i.e. around 80%, is from low-income countries; and it is estimated only 5% up to 15% in developing countries, including Indonesia, that have access to assistive device technologies. Indonesia, for instance, has 20% of the total 240 million people who have disabilities in daily and social activities, and about 10% or 4.8 million people require wheelchair due to inability to walk. One major factor affecting limited access to this technology is poverty level. Besides, the ones available on the market are manually controlled by joysticks which are not user-friendly especially diffable with motoric problems. This paper highlights the control system design for a smart wheelchair prototype and the smart interface utilising voice-based and vision-based mechanism, namely voice and image guided direction. The results show that during image guided direction scenario, the system functions accurately with the intensity of light 0.4 to 400 lux without direct sun light, whilst voice guided direction functions effectively regardless any light source disturbances. However, there are some delays between 1.11 to 3.66 seconds for commands to activate the sensor while commands for actuating the motors will generate a delay of 2.19 to 4.62 seconds. Some discrepancies occur during motions, trajectory deviates in X ordinate direction, 83° in forward motion, 63° in reverse motion, 39° in left and 51° in right. These situations could be compensated by implementing feedback control as the current one is only an open-loop control.