IRJET- Voice Controlled Human interacting Wheelchair
IRJET Journal2020, IRJET
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Abstract
Many physically disabled users are unable to operate a powered wheelchair safely, without causing harm to themselves, others, and the environment. Human interacting wheelchairs that help out or replace user control have been developed to make available for these users, utilizing systems and algorithms from autonomous robots. Even though a constant period of research and development of robotic wheelchairs, there are very few available commercially. Developing a navigation system that is intended at being retro-fitted to powered wheelchairs. The navigation system developed takes a systems engineering approach, integrating many existing open-source software projects to deliver a system. The navigation system introduced in this opinion is aimed at operating in an free indoor environment, and requires no a priori information about the environment. The key components in the system are: obstacle avoidance, map building, localization, path planning, and autonomously travelling towards a goal. The test electric wheelchair was instrumented with the following: a laser scanner, wheel encoders, camera, and a variety of user input methods.
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