지능형 전동 휠체어의 주행제어 = Navigation Control of an Intelligent Electric Powered Wheelchair

다국어 초록 (Multilingual Abstract)

Recently, as the performance of an electric powered wheelchair is improved, it is widely used for handicapped
person as a supplementary device of movement. However, because it is controlled via joystick, it is not easy for
handicapped person to control the electric powered wheelchair safely.
In this paper, new method for navigation control of an intelligent electric powered wheelchair is proposed. The
kinematic structure of an electric powered wheelchair is similar to that of a wheel driven mobile robot. Generally,
wheel driven mobile robot has non-holonomic constraint, that is, a mobile robot can not move to the direction
which is perpendicular to the instantaneous moving direction. Therefore an intelligent electric powered wheelchair
has non-holonomic constraint. In order that an intelligent electric powered wheelchair can navigate in an
environment cluttered with unknown obstacles, accurate navigation control is essentially required.
Simulation is performed to verify the effectiveness of the proposed method. The simulation result shows that the
proposed method can be applicable to the navigation control of an intelligent electric powered wheelchair.