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Updated: Jan 30, 2026
08:55
Determining and Controlling External Power Output During Regular Handrim Wheelchair Propulsion
Published on: February 5, 2020
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Selecting a Best Compromise Direction for a Powered Wheelchair Using PROMETHEE
Summary
This study introduces a novel decision-making system for powered wheelchairs, using the PROMETHEE II method to blend user commands with obstacle avoidance for safer navigation. This enhances mobility for disabled drivers.
Area of Science:
- Robotics
- Artificial Intelligence
- Human-Computer Interaction
Background:
- Powered wheelchairs are crucial for mobility but navigating complex environments poses challenges.
- Existing systems may lack sophisticated decision-making for dynamic obstacle avoidance and user intent integration.
Purpose of the Study:
- To develop and present a novel decision-making system for powered wheelchairs using the PROMETHEE II method.
- To integrate user-desired direction and speed with autonomous obstacle avoidance for enhanced safety and usability.
- To explore the selection of a best compromise direction through a systematic process and sensitivity analysis.
Main Methods:
- Utilized the Preference Ranking Organization Method for Enrichment of Evaluations II (PROMETHEE II) for decision-making.
- Integrated inputs from a powered wheelchair joystick and ultrasonic transducers for environmental sensing.
- Developed a system to simulate and combine user-intended direction with obstacle-avoidance vectors.
Main Results:
- The PROMETHEE II method was successfully applied for the first time in powered wheelchair navigation.
- The system effectively combines user commands with obstacle avoidance, suggesting a safe compromise direction.
- Sensitivity analysis confirmed the robustness of the selected directions, accounting for uncertainty.
Conclusions:
- The PROMETHEE II-based system offers a systematic and robust approach to powered wheelchair navigation.
- This method enhances safety by intelligently blending user intent with obstacle avoidance.
- The system provides a valuable tool for assisting disabled drivers in steering their wheelchairs effectively.
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