| 1/2024 - 1 | View TOC | « Previous Article | Next Article » |
Design and Analysis of a Novel Sidewalk Following Visual Controller for an Autonomous WheelchairUGUR, E.   , KARA, T. , ABDULHAFEZ, A. , OSMAN, I. H. |
View the paper record and citations in  |
| Click to see author's profile in SCOPUS, IEEE Xplore, Web of Science |
Download PDF  (2,254 KB) | Citation | Downloads: 592 | Views: 388 |
Author keywords
assistive technology, control design, modeling, optimal control, visual servoing
References keywords
control(16), design(14), wheelchair(12), systems(10), intelligent(9), controller(8), robot(7), pole(7), placement(7), navigation(7)
Blue keywords are present in both the references section and the paper title.
About this article
Date of Publication: 2024-02-29
Volume 24, Issue 1, Year 2024, On page(s): 3 - 14
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2024.01001
SCOPUS ID: 85189443397
Abstract
This paper presents a study that focuses on sidewalk following problem of an autonomous wheelchair. The main goal is to propose a solution to the urban mobility problem of people with walking disabilities. The study offers an efficient control system design for this task. A linearized wheelchair model is constructed and image-based visual servoing is introduced to evaluate the performance of tracking yellow tactile pavement on sidewalk with optimal control. Reference trajectory sets are created using robust vanishing point for sidewalk following by employing the Hough Lines method. These reference paths are tested with two control methods of Linear Quadratic Regulator (LQR) control and Pole Placement (PP) control. Both control methods are applied through simulation on the autonomous wheelchair model, and efficacy of sidewalk following under these control methods is discussed comparatively. Disturbance attenuation results of the given optimal control methods and simulation outputs prove the efficacy of the model and the designed control systems. LQR control method proves to have better performance in system response in comparison to PP control method. |
| References | | | Cited By «-- Click to see who has cited this paper |
| [1] L. I. Iezzoni, E. P. Mccarthy, R. B. Davis and H. Siebens, "Mobility difficulties are not only a problem of old age," Journal of General Internal Medicine, vol. 16, pp. 235-243, 2001. [CrossRef] [2] Turkey Health Interview Survey, "The percentage of individuals not able to walk, walk up and down stairs without any aid or assistance by sex and age group, 2008, 2010, 2012, 2014, 2016," 2018. https://data.tuik.gov.tr/Kategori/GetKategori?p=Saglik-ve-Sosyal-Koruma-101 (accessed Nov. 23, 2023) [3] J. Leaman and H. M. La, "A comprehensive review of smart wheelchairs: past, present and future," IEEE Transactions on Human-Machine Systems, 47, pp. 486-499, 2017. [CrossRef] [Web of Science Times Cited 108] [SCOPUS Times Cited 154] [4] A. Kokosy, T. Floquet, G. Howells, H. Hu, M. Pepper, M. Sakel and C. Donze, "SYSIASS - an intelligent powered wheelchair," in International Conference on Systems and Computer Science, Lille, 2012 [5] J. Leaman and H. M. La, "iChair: Intelligent powerchair for severely disabled people," in The ISSAT International Conference on Modeling of Complex Systems and Environments (MCSE), Da Nang, 2015, pp. 1-6. [CrossRef] [6] U. Yayan, B. Akar, F. Inan and A. Yazici, "Development of indoor navigation software for intelligent wheelchair," in 22nd Signal Processing and Communications Applications Conference (SIU), Trabzon, 2014, pp. 405-408. [CrossRef] [SCOPUS Times Cited 4] [7] E. Demeester, E. Vander Poorten, A. Huntemann and J. De Schutter, "Wheelchair navigation assistance in the fp7 project radhar: Objectives and current state," IROS 2012 Workshop on Progress, Challenges and Future Perspectives in Navigation and Manipulation Assistance for Robotic Wheelchairs, 2012 [8] S. A. V. Kuppa, M. S. H. Reddy, A. Sanjana, J. Sridevi and V. U. Rani, "Design and development of smart wheelchair," in IEEE 2nd International Conference on Sustainable Energy and Future Electric Transportation (SeFeT), Hyderabad, 2022, pp. 1-5. [CrossRef] [SCOPUS Times Cited 3] [9] F. Pasteau, V. K. Narayanan, M. Babel and F. Chaumette, "A visual servoing approach for autonomous corridor following and doorway passing in a wheelchair," Robotics and Autonomous Systems, 75, pp. 28-40, 2016. [CrossRef] [Web of Science Times Cited 42] [SCOPUS Times Cited 58] [10] F. Pasteau, M. Babel and R. Sekkal, "Corridor following wheelchair by visual servoing," in International Conference on Intelligent Robots and Systems (IEEE/RSJ), Tokyo, 2013, pp. 590-595. [CrossRef] [SCOPUS Times Cited 18] [11] G. R. Shoovo, B. Dey, M. K. Akash, T. Motahara and M. H. Imam, "Design of a line following wheelchair for visually impaired paralyzed patient," in 2nd International Conference on Robotics, Electrical and Signal Processing Techniques (ICREST), Dhaka, 2021, pp. 398-402. [CrossRef] [SCOPUS Times Cited 4] [12] H. I. Sahin and A. R. Kavsaoglu, "Autonomously controlled intelligent wheelchair system for indoor areas," in 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), Ankara, 2021, pp. 1-6. [CrossRef] [SCOPUS Times Cited 7] [13] Y. Du, N. J. Hetherington, C. L. Oon, W. P. Chan, C. P. Quintero, E. Croft and H. M. Van der Loos, "Group surfing: A pedestrian-based approach to sidewalk robot navigation," in International Conference on Robotics and Automation (ICRA), Montreal, 2019, pp. 6518-6524. [CrossRef] [Web of Science Times Cited 16] [SCOPUS Times Cited 25] [14] M. Wen, J. Zhang, T. Chen, G. Peng, T. Chia and Y. Ma, "Vision based sidewalk navigation for last-mile delivery robot," in 17th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2022, Singapore, pp. 249-254. [CrossRef] [Web of Science Times Cited 1] [SCOPUS Times Cited 5] [15] T. Senlet and A. Elgammal, "Design of a vision-based autonomous robot for street navigation," in 22nd Signal Processing and Communications Applications Conference (SIU), Trabzon, 2014, pp. 862-865. [CrossRef] [SCOPUS Times Cited 1] [16] M. Cheng, Y. Zhang, Y. Su, J. M. Alvarez and H. Kong, "Curb detection for road and sidewalk detection," IEEE Transactions on Vehicular Technology, 67(11), 10330-10342, Aug. 2018. [CrossRef] [Web of Science Times Cited 29] [SCOPUS Times Cited 37] [17] E. M. Araujo Filho and J. V. Da Fonseca Neto, "Optimal tuning of dynamic controller via LQR in a powered wheelchair," American Journal of Engineering Research, vol. 6(11), pp. 44-53, Nov. 2017 [18] S. Doung and U. Wasiwitono, "Multibody dynamics modeling and control of wheelchair balancing system," International Seminar on Intelligent Technology and Its Applications (ISITIA), Surabaya, 2021. pp. 123-128. [CrossRef] [SCOPUS Times Cited 3] [19] W. C. Cheng and C. C. Chiang, "The development of the automatic lane following navigation system for the intelligent robotic wheelchair," in IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Taipei, 2011, pp. 1946-1952. [CrossRef] [SCOPUS Times Cited 10] [20] S. A. Wani, I. Nasiruddin, M. Shahid and S. Khatoon, "Intelligent controller design for motion control of smart wheelchair," in International Conference on Power, Instrumentation, Energy and Control (PIECON), Aligarh, 2023, pp. 1-5. [CrossRef] [SCOPUS Times Cited 1] [21] L. Wei and W. Yao, "Design and implement of LQR controller for a self-balancing unicycle robot," in IEEE International Conference on Information and Automation (ICIA), Lijiang, 2015, pp. 169-173. [CrossRef] [SCOPUS Times Cited 9] [22] I. Siradjuddin, Y. W. Syaifudin, T. Winarno, E. Rohadi, F. A. Salsabilla and S. Adhisuwignjo, "Linear controller design using pole placement method for nonholonomic mobile robot trajectory tracking," in Sixth International Conference on Vocational Education and Electrical Engineering (ICVEE), Surabaya, 2023, pp. 122-126. [CrossRef] [SCOPUS Times Cited 1] [23] Y. Sun, Q. Dai, J. Liu, X. Zhao and H. Guo, "Intelligent vehicle path tracking based on feedback linearization and LOR under extreme conditions," in 41st Chinese Control Conference (CCC), Hefei, 2022, pp. 5383-5389. [CrossRef] [SCOPUS Times Cited 1] [24] M. N. Yazar, Z. A. Erbudak, A. Bay, I. Dost and A. Semiz, "Path tracking methods employed in lane centering systems," in 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR), Krakow, 2022, pp. 13-17. [CrossRef] [Web of Science Times Cited 1] [SCOPUS Times Cited 1] [25] J. Ni, Y. Wang, H. Li and H. Du, "Path tracking motion control method of tracked robot based on improved LQR control," in 41st Chinese Control Conference (CCC), Hefei, 2022, pp. 2888-2893. [CrossRef] [SCOPUS Times Cited 4] [26] E. V. Kumar and J. Jerome, "Robust LQR controller design for stabilizing and trajectory tracking of inverted pendulum," Procedia Engineering, 64, pp. 169-178, 2013. [CrossRef] [Web of Science Times Cited 87] [SCOPUS Times Cited 126] [27] N. Razmjooy, A. Madadi, H. R. Alikhani and M. Mohseni, "Comparison of LQR and pole placement design controllers for controlling the inverted pendulum," Journal of World's Electrical Engineering and Technology, vol. 3(2), pp. 83-88, 2014 [28] S. C. Saini, Y. Sharma, M. Bhandari and U. Satija, "Comparison of pole placement and LQR applied to single link flexible manipulator," in International Conference on Communication Systems and Network Technologies (CSNT), Gujrat, 2012, pp.843-847. [CrossRef] [SCOPUS Times Cited 25] [29] P. Chalupa, J. Trefil and J. Novak, "Modelling and hardware design of double inverted pendulum," in 24th International Conference on Process Control (PC), Strbske Pleso, 2023, pp. 18-23. [CrossRef] [Web of Science Times Cited 2] [SCOPUS Times Cited 2] [30] S. Zarghoon and C. Belavy, "LQR and pole placement controllers with integral action design technique and performance analysis for control of temperature field in continuous casting process," in 24th International Carpathian Control Conference (ICCC), Miskolc-Szilvasvarad, 2023, pp. 489-494. [CrossRef] [SCOPUS Times Cited 1] [31] B. N. Soufiani and M. A. Adli, "Pole placement and LQR control of slosh-free liquid transportation with dual-arm cooperative robot," Journal of the Faculty of Engineering and Architecture of Gazi University, vol. 35(4), pp. 2255-2267, 2020. [CrossRef] [Web of Science Times Cited 5] [32] P. V. C. Hough, "A method and means for recognizing complex patterns," U.S. Patent No. 3069654, 1962 [33] R. O. Duda and P. E. Hart, "Use of the Hough transformation to detect lines and curves in pictures," Communications of the ACM, 15(1), pp. 11-15, 1972. [CrossRef] [SCOPUS Times Cited 5371] [34] A. Alaa, E. Adel and A. Anwar, "Hough transform,"https://sbme-tutorials.github.io/2021/cv/notes/4_week4.html#original-hough-transform-cartesian-coordinates (accessed Nov. 23, 2023) [35] H. Sun, Y. Liu, F. Li and X. Niu, "Distributed LQR optimal protocol for leader-following consensus," IEEE Transactions on Cybernetics, vol. 49, pp. 3532-3546, July 2018. [CrossRef] [Web of Science Times Cited 30] [SCOPUS Times Cited 32] [36] Y. Li, M. Xu, J. Chen and X. Wang, "Nonprobabilistic reliable LQR design method for active vibration control of structures with uncertainties," AIAA Journal, Apr. 2018. [CrossRef] [Web of Science Times Cited 8] [SCOPUS Times Cited 13] [37] L. Fan, P. Liu, H. Teng, G. Qiu, P. Jiang, "Design of LQR tracking controller combined with orthogonal collocation state planning for process optimal control," IEEE Access, vol. 8, Dec. 2020. [CrossRef] [Web of Science Times Cited 7] [SCOPUS Times Cited 7] [38] S. Das, K. Halder and A. Gupta, "Delay handling method in dominant pole placement based PID controller design," IEEE Transactions on Industrial Informatics, vol. 16, pp. 980-991, May, 2019. [CrossRef] [Web of Science Times Cited 20] [SCOPUS Times Cited 22] [39] Y. Lan and M. Fei, "Design of state-feedback controller by pole placement for a coupled set of inverted pendulums," in 10th International Conference on Electronic Measurement & Instruments (ICEMI), Chengdu, 2011, pp. 69-73. [CrossRef] [SCOPUS Times Cited 22] [40] G. F. Franklin, J. D. Powell, M. L. Workman, "Digital control of dynamic systems," pp. 313-314, Addison-Wesley, 1998 [41] G. F. Franklin, J. D. Powell, A. Emami-Naeini, "Feedback control of dynamic systems," pp. 477-480, Prentice Hall, 2002 [42] H. Saadat, "Power System Analysis", pp. 569-572, McGraw-Hill, 1993 Web of Science® Citations for all references: 356 TCR SCOPUS® Citations for all references: 5,967 TCR Web of Science® Average Citations per reference: 8 ACR SCOPUS® Average Citations per reference: 139 ACR TCR = Total Citations for References / ACR = Average Citations per Reference We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more Citations for references updated on 2024-04-24 19:30 in 184 seconds. Note1: Web of Science® is a registered trademark of Clarivate Analytics. Note2: SCOPUS® is a registered trademark of Elsevier B.V. Disclaimer: All queries to the respective databases were made by using the DOI record of every reference (where available). Due to technical problems beyond our control, the information is not always accurate. Please use the CrossRef link to visit the respective publisher site. |
Copyright ©2001-2024
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
Faculty of Electrical Engineering and Computer Science
Stefan cel Mare University of Suceava, Romania
All rights reserved: Advances in Electrical and Computer Engineering is a registered trademark of the Stefan cel Mare University of Suceava. No part of this publication may be reproduced, stored in a retrieval system, photocopied, recorded or archived, without the written permission from the Editor. When authors submit their papers for publication, they agree that the copyright for their article be transferred to the Faculty of Electrical Engineering and Computer Science, Stefan cel Mare University of Suceava, Romania, if and only if the articles are accepted for publication. The copyright covers the exclusive rights to reproduce and distribute the article, including reprints and translations.
Permission for other use: The copyright owner's consent does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific written permission must be obtained from the Editor for such copying. Direct linking to files hosted on this website is strictly prohibited.
Disclaimer: Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinions or statements appear in this journal, they wish to make it clear that all information and opinions formulated in the articles, as well as linguistic accuracy, are the sole responsibility of the author.
