Mechanical Engineering Department, Jordan University of Science and Technology, Irbid 22110, Jordan.
Sensors (Basel). 2020 Jun 22;20(12):3525. doi: 10.3390/s20123525.
The last decade observed a significant research effort directed towards maneuverability and safety of mobile robots such as smart wheelchairs. The conventional electric wheelchair can be equipped with motorized omnidirectional wheels and several sensors serving as inputs for the controller to achieve smooth, safe, and reliable maneuverability. This work uses the decentralized algorithm to control the motion of omnidirectional wheelchairs. In the body frame of the omnidirectional wheeled wheelchair there are three separated independent components of motion including rotational motion, horizontal motion, and vertical motion, which can be controlled separately. So, each component can have its different sub-controller with a minimum tracking error. The present work aims to enhance the mobility of wheelchair users by utilizing an application to control the motion of their attained/unattained smart wheelchairs, especially in narrow places and at hard detours such as 90˚ corners and U-turns, which improves the quality of life of disabled users by facilitating their wheelchairs' maneuverability. Two approaches of artificial intelligent-based controllers (PD-Fuzzy-P and GA-PID controllers) are designed to optimally enhance the maneuverability of the system. MATLAB software is used to simulate the system and calculate the Mean Error (ME) and Mean Square Error (MSE) for various scenarios in both approaches, the results showed that the PD-Fuzzy-P controller has a faster convergence in trajectory tracking than the GA-PID controller. Therefore, the proposed system can find its application in many areas including transporting locomotor-based disabled individuals and geriatric people as well as automated guided vehicles.
在过去的十年中，人们在移动机器人（如智能轮椅）的机动性和安全性方面进行了大量研究。传统的电动轮椅可以配备电动全方位车轮和几个传感器，作为控制器的输入，以实现平稳、安全和可靠的机动性。本工作使用分散算法来控制全方位轮椅的运动。在全方位轮式轮椅的本体框架中，有三个独立的运动分量，包括旋转运动、水平运动和垂直运动，可以分别控制。因此，每个分量都可以有其不同的子控制器，具有最小的跟踪误差。本工作旨在通过使用应用程序来控制其已获得/未获得的智能轮椅的运动，来提高轮椅使用者的机动性，特别是在狭窄的地方和难以转弯的地方，如 90˚ 拐角和 U 型转弯，通过提高残疾用户轮椅的机动性来提高他们的生活质量。设计了两种基于人工智能的控制器（PD-Fuzzy-P 和 GA-PID 控制器）方法来优化系统的机动性。使用 MATLAB 软件对系统进行仿真，并计算两种方法在各种场景下的平均误差（ME）和均方误差（MSE），结果表明 PD-Fuzzy-P 控制器在轨迹跟踪方面的收敛速度比 GA-PID 控制器快。因此，所提出的系统可以在许多领域得到应用，包括运输基于运动的残疾人和老年人以及自动引导车辆。
