An Embedded Robotic Wheelchair Control Architecture with Reactive - - PowerPoint PPT Presentation

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An Embedded Robotic Wheelchair Control Architecture with Reactive - - PowerPoint PPT Presentation

Apr 11, 2023 115 likes •267 views

An Embedded Robotic Wheelchair Control Architecture with Reactive Navigations Design by: Chung-Hsien Kuo, Yao-Sheng Syu, Tsung-Chin Tsai and Ting- Shuo Chen Presentation by: Joshua Henderson 1 Motivation Lower costs of automated

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An Embedded Robotic Wheelchair Control Architecture with Reactive Navigations

Design by: Chung-Hsien Kuo, Yao-Sheng Syu, Tsung-Chin Tsai and Ting- Shuo Chen

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Presentation by: Joshua Henderson

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Motivation

  • Lower costs of automated wheelchairs
  • Give increased mobility to the handicapped
  • Increased safety of the handicapped

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Navigation Architectures

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  • Embedded approach allows faster real-time responses
  • Reduces the need for interrupts and polling at the application

level

  • Allows for faster response times
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Microcontroller

  • Xscale PXA270
  • Part of Marvell’s implementation of the ARMv5 architecture
  • Embedded Linux with kernel 2.6.15

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Artificial Potential Fields (APF)

  • Desired destination is represented by low points
  • High points are objects to be avoided

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Artificial Potential Fields

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Destination Obstacle

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Navigation Flow Chart

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  • Reactive Navigation is inactive until an obstacle is within 2m
  • Applies APF
  • Generates Justified Command
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System Architecture and Device Drivers

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Wheelchair

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GUI and Information Display

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Simulation

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Simulated using Microsoft Visual C++

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Results

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Manual Navigation Reactive Navigation Averaged Results

Red = Reactive Blue = Manual

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Conclusion

  • Embedded Systems result in lower costs and provide

improved reaction times

  • Reactive Navigation gives the user a smoother ride and

helps prevent collisions

  • Future Improvements
  • Voice commands
  • Fully autonomous navigation

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References

http://www.youtube.com/watch?v=r9FD7P76zJs http://web.eecs.utk.edu/~parker/Courses/CS594-fall08/Lectures/Oct-16- Potential-Fields.pdf http://en.wikipedia.org/wiki/XScale

  • J. Liu, H. Zhang, B. Fan, G. Wang, and J. Wu, “A Novel Economical

Embedded Multi-mode Intelligent Control System for Powered Wheelchair” Chung-Hsien Kuo, Yao-Sheng Syu, Tsung-Chin Tsai and Ting-Shuo Chen “An Embedded Robotic Wheelchair Control Architecture with Reactive Navigations”

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