Assistive technology: autonomous wheelchair in obstacle-ridden environment

Area of Science:

• Robotics
• Control Systems
• Assistive Technology

Background:

• Assistive technology, particularly autonomous wheelchairs, is crucial for the social and economic inclusion of persons with disabilities (PWD).
• Safe and efficient navigation in complex environments remains a key challenge for autonomous mobility devices.

Purpose of the Study:

• To present novel nonlinear time-invariant stabilizing controllers for autonomous nonholonomic wheelchairs.
• To ensure safe navigation, robust obstacle avoidance, and adherence to system dynamics in obstacle-ridden environments.

Main Methods:

• Development of velocity-based controllers derived from a Lyapunov function using the Lyapunov-based Control Scheme (LbCS).
• Application of the artificial potential field method with a focus on safety, shortness, and smoothness in motion planning.
• Proof of system stability using the Direct Method of Lyapunov.

Main Results:

• The proposed controllers demonstrate effectiveness in safe navigation and obstacle avoidance for autonomous wheelchairs.
• The Lyapunov-based Control Scheme ensures cost and time effectiveness through optimized motion planning.
• Computer simulations validate the efficiency and stability of the developed control system.

Conclusions:

• The new controllers significantly enhance the capabilities of autonomous wheelchairs, contributing to improved accessibility for PWD.
• This research advances assistive technology, fostering greater social and economic inclusion for individuals with mobility challenges.
• The LbCS approach offers a robust framework for developing efficient and safe autonomous systems.