An effective DVZ-fuzzy logic pilot for a mobile robot using generic architecture

Evaluation of User Interface Performing a DVZ-Fuzzy Logic Pilot for Powered Wheelchair

“…The studied vehicle is a robotic wheelchair with two caster wheels and two independent driving wheels that provide the mobile base with two degrees of mobility [2]. We have mounted a Laptop upon our system and connected it to a joystick and motor control unit using a CB-405 bloc system as shown in Fig.1.…”

“…This sensor provides distances to the obstacles present in the robot's surrounding area with maximum four meters distance to the chair's center. For a more comprehensive review of the application of this method on the robotic wheelchair, refer to [1] and [2].…”

“…In the second one, obstacles are present in one or two sides (I ls or I rs or both), the robot can attempt its targets without avoiding obstacles. To do so, we have developed a fuzzy switch [2].…”

“…�he so�ware on the �a�to� uses the measures from the CB405 and the laser to control the wheelchair mo�on" "�iagram highligh�ng the user interac�on methods � through the �o�s�c� or the �a�to�. �ll the �o�s�c� commands are �rocessed b� the CB�405 module before being sent to the wheelchair motors"[2].…”