Design of a Semi-Autonomous Electric Wheelchair Controlled by Head Movements

Abstract

In this study, the design and development of a semi-autonomous electric wheelchair which is controlled by head movements is explained. For the system to function at the desired level, various algorithms are specially adapted to the system in the framework of the defined problem. The user is able to turn on and turn off the system or switch between assisted and unassisted driving modes, by doing the special pre-defined head movements. In the assisted driving mode, which constitutes the main scope of the work, the semi-autonomous system supports and improves driving by interfering in different rates when it is necessary. So that the faulty user inputs do not result with dangerous situations. The algorithms for a semi-autonomous solution are tested on a real wheelchair platform successfully and the results are presented.

Keywords

• Semi-autonomous systems
• Obstacle avoidance
• Pattern recognition