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Collision Avoidance Algorithm of an Intelligent Wheelchair Considering the User's Safety with a Moving Obstacle

탑승자의 안전을 고려한 지능형 휠체어의 단일 이동 장애물 충돌회피 알고리즘

  • Kim, Yong Hwi (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Yoon, Tae Sung (Department of Electrical Engineering, Changwon National University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
  • 김용휘 (연세대학교 전기전자공학과) ;
  • 윤태성 (창원대학교 전기공학과) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Received : 2013.04.03
  • Accepted : 2013.07.18
  • Published : 2013.10.01

Abstract

As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair's velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.

Acknowledgement

Supported by : 한국연구재단

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