Presenter : Jaya Bhanu Rao Supervisor : Dr. John Hedley Date: 20 July 2015 Newcastle University 1 WORLD CONGRESS ON INDUSTRIAL AUTOMATION 2015

 Disabled or elderly people unable to manoeuvre powered wheelchair smoothly due to frail and lack of dexterity in handling joystick movement.  Leads to fatigue and discomfort to wheelchair users.  Smooth wheelchair movement and transition are needed to overcome this problem. Newcastle University2

 To develop a robust algorithm to detect and avoid static and dynamic obstacles.  To develop a control system which can assist the wheelchair user in minimising the sharp shifting of wheelchair movement.  To validate wheelchair navigation via joystick using Matlab and Player/Stage simulation on Ubuntu 12.04LTS platform. Newcastle University3

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5 Point distance based segmentation (PBDS) K.Rebai et. al. 2009

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Collision avoidance can be divided into static and dynamic obstacle. These obstacles can be avoided with collision avoidance behaviour which is based upon VO method and Collision Cone principle. Newcastle University7 Fiorini and Shiller, 1998; Chakravarthy and Ghose, 1998

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10 The inputs of the emergency stop behaviour include the sensor data and the maximum weight of the wheelchair speed. This behaviour becomes active if the minimum distance to the obstacle is below a minimum specific threshold or the maximum weight of the robot velocity is zero.

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Newcastle University13 Ceballos et al., 2010

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 Based on the simulated results it have been proven that there was a significant improvement in the wheelchair movement with Fuzzy Inference System.  Further work will be carried out to introduce other behaviours and to further improve the performance of the system. Newcastle University16