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Authors: S. O. Onyango 1 ; Y. Hamam 2 and K. Djouani 3

Affiliations: 1 F'SATI - Tswane University of Technology, South Africa ; 2 F'SATI - Tswane University of Technology, Paris Est University and UVSQ Velizy, South Africa ; 3 Paris Est University and F'SATI - Tshwane University of Technology, France

ISBN: 978-989-8425-75-1

Keyword(s): Modelling, Gravity, Input–output linearization, Slip,Control, Wheelchair.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: People with disability increase everyday due to accidents, poor health care and aging of the population. While some of these disabled people are strong enough and can comfortably use manual wheelchairs to move, others are too weak and may find it extremely difficult to drive powered wheelchairs with basic functionalities. Wheelchairs adaptable to various specialized functionalities may therefore be important if mobility of the severely disabled persons is to be ensured. Control parameters adaptable to hand, tongue or even head joysticks may consequently be necessary. Authors of this paper considered linear velocity and angular position for control. With such control parameters the wheelchair user may navigate and reach every desired location. To mimic real outdoor situations, slippery, inclined and flat surfaces are also considered. The dynamic modelling procedure used in this paper is based on the Euler–Lagrange formalism. The wheelchair platform considered in this paper is a differe ntial drive platform with two passive front caster wheels and two active rear wheels. (More)

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Paper citation in several formats:
O. Onyango, S.; Hamam, Y. and Djouani, K. (2011). VELOCITY AND ORIENTATION CONTROL IN AN ELECTRICAL WHEELCHAIR ON AN INCLINED AND SLIPPERY SURFACE.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 112-119. DOI: 10.5220/0003416301120119

@conference{icinco11,
author={S. O. Onyango. and Y. Hamam. and K. Djouani.},
title={VELOCITY AND ORIENTATION CONTROL IN AN ELECTRICAL WHEELCHAIR ON AN INCLINED AND SLIPPERY SURFACE},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={112-119},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003416301120119},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VELOCITY AND ORIENTATION CONTROL IN AN ELECTRICAL WHEELCHAIR ON AN INCLINED AND SLIPPERY SURFACE
SN - 978-989-8425-75-1
AU - O. Onyango, S.
AU - Hamam, Y.
AU - Djouani, K.
PY - 2011
SP - 112
EP - 119
DO - 10.5220/0003416301120119

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