An Obstacle Avoidance System based on BMI and RHC for Robotic Wheelchair

摘要

This paper investigates an obstacle avoidance system based on BMI (Brain Machine Interface) and RHC (Receding Horizon Control). The system is designed intending to apply to the robotic wheelchair. The robotic wheelchair with proposed system is constructed with the RHC controller, the adaptive DA converter and the BMI based on the EEG (Electroencephalogram). Some numerical examples are also included to demonstrate the effectiveness of the proposed system.