書誌事項
- タイトル別名
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- Fuzzy Inference Based Obstacle Avoidance Control of Electric Powered Wheelchair Considering Driving Risk
- ソウコウ キケンド オ コウリョ シタ デンドウクルマイス ノ ファジィ スイロンガタ ショウガイブツ カイヒ セイギョ
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This paper describes a novel obstacle avoidance control scheme of electric powered wheelchairs for realizing the safe driving in various environments. The “electric powered wheelchair” which generates the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people; however, the driving performance must be further improved because the number of driving accidents caused by elderly operator's narrow sight and joystick operation errors is increasing. This paper proposes a novel obstacle avoidance control scheme based on fuzzy algorithm to prevent driving accidents. The proposed control system determines the driving direction by fuzzy algorithm based on the information of the joystick operation and distance to obstacles measured by ultrasonic sensors. Fuzzy rules to determine the driving direction are designed surely to avoid passers-by and walls considering the human's intent and driving environments. Some driving experiments on the practical situations show the effectiveness of the proposed control system.
収録刊行物
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- 電気学会論文誌Ｃ（電子・情報・システム部門誌）
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電気学会論文誌Ｃ（電子・情報・システム部門誌） 132 (6), 952-959, 2012
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679583743616
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- NII論文ID
- 10030606572
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- NII書誌ID
- AN10065950
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- BIBCODE
- 2012ITEIS.132..952K
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 023823898
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可