Combination of the DVZ Method, Particle Filter, and Fuzzy Controller for Electric Wheelchair Navigation | Zendy

Malek Njah | Zendy; Mohamed Boukattaya | Zendy

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Combination of the DVZ Method, Particle Filter, and Fuzzy Controller for Electric Wheelchair Navigation

Author(s) -

Malek Njah,

Mohamed Boukattaya

Publication year - 2014

Publication title -

international journal of navigation and observation

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.176

H-Index - 18

eISSN - 1687-6008

pISSN - 1687-5990

DOI - 10.1155/2014/137891

Subject(s) - wheelchair , controller (irrigation) , context (archaeology) , obstacle avoidance , particle filter , fuzzy logic , filter (signal processing) , computer science , obstacle , control theory (sociology) , independence (probability theory) , fuzzy control system , control engineering , simulation , engineering , control (management) , artificial intelligence , computer vision , mathematics , paleontology , statistics , world wide web , law , political science , robot , agronomy , biology , mobile robot

Electric wheelchair is one of the many engines used for the movement of aged and disabled people. This paper introduces an obstacle avoidance using deformable virtual zone (DVZ), particle filter to improve localization and fuzzy controller to join desired target. This controller is developed to increase the independence of disabled and aged people, specifically those who suffer not only disability in the lower limbs but also visual disturbances. To overcome these problems, different perceptive abilities or sensors were introduced. In this context, we developed a control system composed by fuzzy controller to join a target, DVZ method for obstacle avoidance, and particle filter for localization. Also, we present the simulation results of the wheelchair navigation system.

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