Autonomous Robotic Wheelchair Report Download Mechanical projects

Abstract

The Autonomous Robotic Wheelchair is being designed to enhance the capabilities of the joystick-controlled SAKURA Wheelchair made available through SAKURA’s collaboration with RISE Lab, SMME. While an electric wheelchair can be successfully navigated by most persons, people with Parkinson’s, Multiple Sclerosis or other severe mental difficulties remain unable to navigate a standard automated wheelchair in the same way. We have endeavored to design the Autonomous Robotic Wheelchair so that these people can rely on our smart wheelchair to do the navigation for them. Our Final Year Project is a small step towards this ambitious and important goal being pursued by a variety of student teams working under the umbrella of the Mobile Robotics Group at RISE Lab, SMME. Our project goals required that the wheelchair should be able to perceive the layout of its surroundings, localize itself within that layout, and given particular start and endpoints, it should be able to steer itself from one to the other following a reasonable collision-free path. To this end, we analyzed the hardware configurations of various other autonomous wheelchairs and adopted the hardware configurations which appealed to us the most. We modified the existing wheelchair hardware to incorporate an LRF sensor and a tableunit for an on-board laptop and electronics housing. Following that, we developed our obstacle avoidance and navigation codes based on C++ and Player\Stage. Our obstacle avoidance codes are making use of real-time laser sensing by the LRF and our navigation codes are being controlled either by the potential field navigation algorithm or by the initial position and headings provided
by the Player\Stage ‘cfg’ files. Our obstacle avoidance algorithms are being monitored by Player\Stage running on the Ubuntu open-source platform which conveys LRF inputs to our C++ code and our C++ code, in turn, sends the forward and turning velocities to our windows-based LABVIEW program over a secure TP-Link Wireless Network. Once our Wheelchair becomes fully functional, probably after a series of coding modifications, integration of further types of sensors, rigorous lab-testing and optimization for environments bigger than the RISE Lab test space, we will then endeavor to prototype and market this wheelchair as a healthcare product meant to provide mobility and enhanced independence to the disabled and mentally challenged people.

automatic wheelchair mechanical project report download

SAKURA WHEELCHAIR MC-2000

We have used the SAKURA Wheelchair MS-2000. The wheelchair is currently joystick controlled with two on-board batteries connected in series providing net 24V to the wheelchair. The front two wheels of the wheelchair are passive wheels and the back two wheels are powered with a differential drive. The joystick provides velocity values to the wheelchair in the form of forward or angular velocities. The wheelchair also has an efficient clutch system and a safety breaking mechanism which comes into action if the wheelchair is not started properly.

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Autonomous Robotic Wheelchair Report PDF Download Mechanical projects