Novel Straight and Circular Road Driving Control of Electric Power Assisted Wheelchair Based on Fuzzy Algorithm

摘要

This paper describes a novel straight and circular road driving control scheme for electric power-assisted wheelchairs. "Electric power-assisted wheelchair" which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people, however, the performance of straight and circular road driving must be further improved because the two wheels drive independently. This paper proposes a novel driving control scheme based on fuzzy algorithm to realize stable and reliable driving on straight and circular roads. The suitable assisted torque of the right and left wheels is determined by fuzzy algorithm based on the posture angular velocity of the wheelchair and the human input torque proportion of the right and left wheels. Some experiments on the practical roads show the effectiveness of the proposed control system.