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Intelli voice controlled wheel chair automation
This system is based on addressing spatial knowledge representation and reasoning.
It uses stereo color vision, in addition to ultrasonic and infrared sensors.The structure of the environment is learned through local observations.The system controls the wheelchairâ„¢s direction by observing the direction of the userâ„¢s face, under the assumption that a person will look where he wants to go.ultrasonic sonars are used to choose the sensitivity of the program
to a userâ„¢s head movement. For close obstacles, the system smoothes over a large number of frames, making the system ignore small head movements since the user
may look at the close obstacles.For long readings from the sonars, smoothing is done over a smaller number of frames to allow for finer control in open spaces.
Wheelsey, a project from the MIT navigates when The user tells the robot where to move using high level commands such as forward or right. The robot carries out each command using its sensors and control code to safely navigate. A robotic wheelchair system should not be limited to one particular location, either by requiring maps or by environment modification. A new system called the subsumption system is used. In the subsumption system, many processes are running on a robot simultaneously. Layers of behaviors causes the most relevant behavior to be selected at any given time while the other behaviors are suppressed. This architecture allows for robots to reactively interact with the world instead of requiring lots of planning.
hardware
The drive wheels are centered on either side of the base, allowing the
chair to turn in place. There are two front casters and a rear caster with spring
suspension.
Sensors: 12
SUNX proximity sensors
-ultrasonic range sensors
-shaft encoders
-Hall effect sensors
A 68332 processor is used to control the robot and process sensor information. A Macintosh Powerbook is used for the robotâ„¢s GUI.
Seminar report download:
 wheelsley.pdf (Size: 149 KB / Downloads: 234)
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