대한의용생체공학회:학술대회논문집 (Proceedings of the KOSOMBE Conference)

대한의용생체공학회 (The Korean Society of Medical and Biological Engineering)
권호 표지

퍼지제어에 의한 전동 휠 체어의 경로속도 보정에 관한 연구

A Study on Phase Velocity Correction of Motorized Wheelchair Based on Fuzzy Control

  • 이창훈 (인하대학교 전자공학과) ;
  • 이동훈 (인하대학교 전자공학과) ;
  • 양세준 (인하대학교 전자공학과) ;
  • 홍승홍 (인하대학교 전자공학과)
  • Lee, C.H. (Department of Electronic Eng., Inha Univ.) ;
  • Lee, D.H. (Department of Electronic Eng., Inha Univ.) ;
  • Yang, S.J. (Department of Electronic Eng., Inha Univ.) ;
  • Hong, S.H. (Department of Electronic Eng., Inha Univ.)
  • 발행 : 1992.11.13
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초록

In this study, Fuzzy control algorithm to generate a change of rocomotion cordition according to an outer environment is introduced on a motorized wheelchair control. An optimal control rules for conquesting the less of safety and system inefficiency in the past are given to this motorized wheelchair. And dynamic analysis is also adopted to it. Using those rules, a proportional control was possible when the vehicle changed its moving direction. The proposed method which considers the relationship between a moving velocity and the command from the joystick shows better performance in the change of moving direction.

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