Özetçe-Artanyaşlı ve engelli nüfusu tekerlekli sandalyelere büyük bir talep oluşturmaktadır. Tekerlekli sandalyeler, engelli insanların hayatlarını kolaylaştırma ve mobilize olmalarında önemli bir yere sahiptir. Ayrıca otonom tekerlekli sandalyeler, akademik ve endüstriyel araştırmacılar için uygun bir araştırma platformunu oluşturmaktadır. Bu çalışmada, yüksek teknoloji kontrol mekanizmalarına, düşük fiyatlı algılayıcı (Kinect, İÇKON) ekipmanlarına ve açık kaynak kodlu yazılımlara (ROS, GAZEBO) sahip Akıllı Tekerlekli Sandalye (ATEKS) için Sonlu durum makinesi tabanlı yüksek seviye denetleyici ile Kinect Tabanlı navigasyon algoritması geliştirilmiştir. Tasarlanan sonlu durum makinası Gazebo ortamında test edilmiştir. Anahtar Kelimeler-Kinect; ROS; potansiyel alanlar; akıllı tekerlekli sandalye; Gazebo; konumlandırma; SDM.Abstract-Increasing population of elderly and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important place to improve the lives of and mobilize people with disabilities. Also, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, a finite state machine-based high-level controller and a Kinectbased navigation algorithm have been developed for the Intelligent Wheelchair (ATEKS) that has high-tech control mechanisms, low-cost sensor equipment, and open source software (ROS, GAZEBO). Designed finite state machine and algorithm are tested in Gazebo.

An advanced driver assistance system (ADAS) is the premium technology for autonomous driving. It uses data from vision/camera systems, data from in vehicle sensors, and data from vehicle-to-vehicle (V2V) or Vehicle-to-Infrastructure (V2I) communication systems. The next generation systems even autonomous vehicles are expected to use the V2V information to increase the safety for non-line of sight environments. Exchanging some data like vehicle position, speed, status etc., helps to the driver about potential problems, or to avoid collisions. In this paper, a V2V communication system module is designed and tested on the vehicles.

Advanced driver assistance systems (ADAS) have a critical role in the development of the active safety systems for vehicles. There are various sub technologies like Adaptive cruise control (ACC), Collision avoidance system, Blind spot detection etc. under ADAS. All these technologies are also accepted as the preliminary technology of autonomous driving. Therefore, during development of these technologies using a system of system (SOS) control approach would help both decreasing the development costs and unifying all these technologies under autonomous driving. In this paper, a SOS based intelligent ACC system design is proposed. The ACC system has high level control, low level control and sensor units.