Smart Wheelchair using Fuzzy Inference System

Vishal Tyagi
Department of Electrical & Electronics Engg., Krishna Institute of Engg. & Technology, Ghaziabad (U.P.)- 201206, India tktyagi.vishal@gmail.com

Neeraj Kumar Gupta

Department of Electrical & Electronics Engg., Krishna Institute of Engg. & Technology, Ghaziabad (U.P.)- 201206, India, neeraj_gupta2000@yahoo.com

Praveen Kumar Tyagi

Department of Electrical & Electronics Engg., Krishna Institute of Engg. & Technology, Ghaziabad (U.P.)- 201206, India parveentyagi1974@gmail.com

ABSTRACT- In this paper Smart Wheelchair using Fuzzy Inference System has been presented, which has a user friendly guidance system and has ability to avoid obstacles. For guiding the wheelchair Finger Tip Control is used and for obstacle avoidance Ultrasonic Sensors have been used. The fuzzy If-Then rules have been defined which govern the functioning of the wheelchair in different conditions. The system is simulated on fuzzy tool box and results have been generated. The use of fuzzy control allows the use of inexpensive and imprecise sensors, which will keep the overall system cost and complexity low. Using fuzzy logic control makes the implementation of the system much more practical which is the number one goal. Keywords: Flex sensors; ultrasonic sensor; fingertip control; Fuzzy logic control; direction control; motion control; FIS(Fuzzy Inference System).

precise sensors which in turn increase the cost of the entire system. Some Wheelchairs also require additional equipment like GPS, Path Propagation Software etc. which increases the cost. 4) Navigation Restrictions: Some of the smart wheelchairs require prior information about the area they have to travel which restricts its use only to a known location and disadvantage is that they are limited to modelled and planned environments and cannot operate in unmodified environments. C. Solution Proposed in this Paper Solution to these problems is a semi-autonomous wheelchair [5] which is proposed in this paper. i.e., Finger Tip Controlled Smart Wheelchair using Fuzzy Inference System. Technologies utilized in the Smart Wheelchair: 1) Finger Tip Control: This will enable the controlling of the wheelchair through movement of the fingers. This system will remove the complexity and efforts required to control the wheelchair. For this purpose flex sensors will be utilized. 2) Fuzzy Logic Based System: It will act as the brain of the wheelchair. It will perform the different functions such as: Learning (based on programming input) Execution of input commands ( from user or sensors) 3) Ultrasonic Sensors: These sensors will guide the wheelchair through different passages (paths) and thus help in obstacle avoidance. Thus the paper presents a semi-autonomous wheelchair in which the chair will be guided by the user through Finger Tip Control [16] while the ultrasonic sensors [14], [15] will protect the wheelchair from any unwanted collision with the obstacles. D. Advantages over other systems Fuzzy logic control [13] is very flexible in terms adaptability. Thus because of the use of fuzzy logic based system expensive and precise sensors are not required and sensors with low precision and cost can be implemented, which will keep the overall system cost and complexity low. Thus use of fuzzy logic

I. INTRODUCTION A. Present Scenario In todays world there are a large number of people suffering from motor disabilities of various degrees. For their help, there are a number of tools and equipments in the market and the most famous is the Wheelchair. Wheelchairs provide mobility to the disable people. The wheelchairs have developed in terms of technology used, over time. Wheelchairs with various technologies are: Joystick controlled wheelchairs Gesture controlled wheelchairs (Hand or Face) Voice recognition based wheelchair Eye ball tracking base wheelchairs, so on and so forth. B. Problems with Conventional Wheelchairs Problems faced in Conventional Wheelchairs are: 1) Difficult to control: These wheelchairs require a considerable amount of user input which makes their operation more complex & require a lot of practice. 2) High chances of accidents: Because of functional complexity these wheelchairs are highly prone to accidents such as collision with walls, passer-by, or other objects. 3) High Cost: Requirement of exact information about the environment requires very advanced and

2013 IEEE Global Humanitarian Technology Conference: South Asia Satellite (GHTC-SAS) | 23-24 August 2013

control makes the implementation of the system much more practical which is the number one goal. Moreover, use of flex sensors for guidance of the wheelchair makes the controlling very easy and user friendly.

II. RELATED WORK Several researchers have used different methods and technologies to provide a collision-free journey for the users. From control point of view, we can divide smart wheelchairs to three groups: i. Autonomous, ii. Semi-Autonomous, iii. Autonomous and Semi-Autonomous mode. The first group [4], [8], [12] has functional capabilities such as path planning and execution. They require either some information about the area such as its complete map or some adjustments to their environment. The disadvantage is that they cant avoid unplanned obstacles or navigate in unmapped environments. The second group [5] of smart wheelchairs are only capable of avoiding the obstacles while the planning and navigation activities are performed by the user (e.g., NavChair [1], TinMan [9]). The main advantage of such wheelchairs over autonomous systems is that there use is not limited to the modelled and planned environments and has a capability of operating in unmodified environments. But these wheelchairs can only be used by users who are able to effectively plan and navigate the wheelchair to a particular location. The last category of smart wheelchairs has properties of both 1) and 2) (e.g., VAHM [6]). Now a number of smart wheelchair systems have been discussed below for providing a brief knowledge of how these systems have been developed over a period. VAHM [6] is a smart wheelchair that utilizes Sonar, Infrared and Dead Reckoning sensors and it can work in autonomous (for navigation) as well as semiautonomous (for obstacle avoidance) mode of operation. The other invention in the field of smart wheelchairs is Mister Ed [5]. It is a wheelchair with robot base and utilizes subsumption architecture for control. The sensors used include Sonar, Infrared and Bump sensors. A wheelchair called OMNI [1] can provide hierarchy of functionality such as simple obstacle avoidance, specific operation mode and autonomous navigation [17]. This system utilizes sensors similar to VAHM [6] but in addition it utilizes a Bump sensor. Then there is a very compatible smart wheelchair system in the form of Hephaestus [7] that uses Sonar and Bump sensors. It provides obstacle avoidance capability and can be utilized for different brand wheelchairs and does not require any modifications. It is based on NavChair [1] navigation system. Then there is an intelligent wheelchair that uses a Rule-Base control system. It is named as SWCS [2].

It has Sonar, Infrared and Bump sensors. These sensors provide obstacle avoidance capability. This system can be utilized by different brands of wheelchairs and does not require any modifications. A system called CALL [4] has also been developed which is used as mobility training aid. It follows lines and on collision with an obstacle it comes back. For this purpose Bump sensors are used in the system. There is another work in this field called Wheelesly [10], which has exploring vision-based navigation assistance based on TinMan [9]. It can avoid obstacles and navigate autonomously. Vision, Infrared and Sonar sensors are utilized in this system. INRO [1] is another autonomous wheelchair which is capable of travelling from one location to another by using GPS, Sonar and Drop-Off Detector. CPWNS [11] is also one of the smart wheelchairs [3] developed, which has the ability to learn the environment through a guided tour of an unknown location. It uses Vision and Dead Reckoning sensors. It lacks obstacle avoidance capability. III. DESIGN ASPECT OF SMART WHEELCHAIR In this paper, we have provided a new concept of controlling a wheelchair with a capability of avoiding the obstacles. In the concept following technologies are proposed: Finger Tip Control [16] (using flex sensors) Obstacle Avoidance [14], [15] (using ultrasonic sensors) Fuzzy Logic Based System [13] (main working) A. Finger Tip Control This system will be utilized for the guidance of the wheelchair by the handicapped person. The finger movements will control the wheelchair. The movement of the fingers will be tracked by the flex sensors, which could be fastened at the tips of a glove as shown in Fig.1. The flex sensors have a property that they change their resistance when they are bent. The variation of resistance is from 10,000 ohms to 35,000 ohms for a bending angle of 0 to 90 degree respectively. The characteristic of a flex sensor is shown in Fig.2. The information provided by these sensors is compared with the values obtained during training and this comparison is done by the system. After the comparison a command is generated, which is send to the actuator and the chair is moved accordingly. The use of flex sensors makes the direction as well as motion control of the wheelchair very easy and effective. In the system proposed in the paper two right hand fingers (forefinger and middle finger) and one left hand finger (fore-finger) have been used for controlling. Thus, only three flex sensors are utilized. Use of flex sensors does not require any predetermined or fixed gestures as in case of gesture control. Thus, flex sensor have more functional

2013 IEEE Global Humanitarian Technology Conference: South Asia Satellite (GHTC-SAS) | 23-24 August 2013

flexibility and thus are more user friendly as compared to gesture control.

TABLE II. Position of ultrasonic sensors Ultrasonic sensors Front sensor Right sensor Left sensor Obstacle avoidance For avoiding front obstacles For avoiding right obstacles For avoiding left obstacles

C. Fuzzy Logic Based System (Main working concept)

Fig.1. Flex Sensors fastened to a glove

The main concept is described in the table given below: TABLE III. Working Principle Obstacle location If obstacles are far Preference Preference will be given to fingertip control. (i.e., input from flex sensors will control the motion of the wheelchair) Preference will be given to the obstacle avoidance system.(i.e., input from ultrasonic sensors will control the motion of the wheelchair)

If any of the obstacles is in the close range

Fig.2. Characteristics of a flex sensor

TABLE I. Control through fingers Finger Used Right hand forefinger Right hand middle finger Left hand forefinger Control Direction Control (Left or Right rotation) Motion Control (Stop or Move)

For the working and controlling of the wheelchair a fuzzy logic based system will be utilized. A set of rules defined on fuzzy logic will cause the controlling of the wheelchair through different inputs. The rules are defined such that they follow the principle given in table III. 1) Input Variables a) From Flex Sensors TABLE IV. Input variables from flex sensors Finger Right Forefinger Input Variable RFF Membership Functions RFSL Description Right Forefinger Small Left Right Forefinger Big Left Right Middle Finger Small Right Right Middle Finger Big Right Left Forefinger Move Left Forefinger Stop

B. Obstacle Avoidance A set of ultrasonic sensors [14], [15] are placed in the front as well as at the left and right sides of the wheelchair for the purpose of avoiding and maintaining a safe distance from the obstacles. Ultrasonic sensors are chosen because they are not light sensitive as infrared sensors. These sensors will measure the distance of the wheelchair from the obstacles and moving objects like other people continuously and this information is send to the system. The system then act according to the rules defined in fuzzy until the obstacle disappears from its path or even if a safe distance is reached. The distance between the obstacle and the wheelchair can be measured by using the following formula: (1) D = (v* t)/2 Where, D is the distance between the wheelchair and the obstacle, v is the velocity of sound (340 m/s) and t is the time for sending and receiving an ultrasonic pulse. Table II describe the different positions of the ultrasonic sensors on the wheelchair.

RFBL

Right Middle Finger

RMF

RMSR

RMBR

Left Forefinger

LFF

LFM

LFS

2013 IEEE Global Humanitarian Technology Conference: South Asia Satellite (GHTC-SAS) | 23-24 August 2013

b) From ultrasonic sensors TABLE V. Input variables from ultrasonic sensors Input Variable Xf Membership functions Near & Far Description Distance between wheelchair and front obstacle (m) Distance between wheelchair and right obstacle (m) Distance between wheelchair and left obstacle (m)

obstacle avoidance system and not to the inputs from the flex sensors. Now the user can take a left or right turn with wheelchair not moving. Information about the distance of the obstacles from the wheelchair will be provided by ultrasonic sensors. Similarly, the other rules have been created for different situations. 4) Rotation of the wheelchair (direction control) The direction of motion of the wheelchair will be controlled by the movement of the fingers (through flex sensors) or on the basis of the distance of the wheelchair from the obstacles, which will be provided from the ultrasonic sensors. The angle of rotation will be defined with respect to the line of the wheelchair and here it is divided into two parts: Big rotation & small rotation. Small rotation. Big rotation Up to 45 degree Up to 90 degree

Xr

Near & Far

Xl

Near & Far

2) Output variables TABLE VI. Output Variables Output variables Outputa Membership functions RZ RRS RRB RLS RLB Outputb Move Stop Description Rotate Zero (degree) Rotate Right Small (degree) Rotate Right Big (degree) Rotate Left Small (degree) Rotate Left Big (degree) ---------

The concept of rotation can be easily understood from fig.3, which shows the geometry of the wheelchair with respect to the Cartesian plane. Here, represent the angle of rotation of the wheelchair with respect to the line of wheelchair. The rotation will take place because of the different torques produced by the two motors rotating the back wheels. In order to turn right, the motor in the left axis wheel will generate more torque than in the right axis wheel; this will cause the left wheel to roll faster and the wheelchair will turn to the right. The amount of torque difference makes the turning faster or slower. X & Y: Cartesian coordinates. XB& YB: Coordinates of the wheelchair body frame.

3) How rules are created The rules have been created for different position of the obstacles around the wheelchair. The rule base comprises of a set of 126 rules. These rules will control the motion of the wheelchair according to the different positions of the wheelchair and the obstacles around it. Here a small demonstration is provided to show that how the rules will control the wheelchair: If (Xf is near) and (Xr is far) and (Xl is far) and (LFF is LFM) then (Outputa is RZ) (Outputb is Stop). The above rule states that if the front obstacle is close, right and left obstacles are far and the user is providing the move command through the flex sensors. Then to avoid the collision, the system will generate a command to stop the wheelchair, irrespective of the input provided by the user. This will happen because as the obstacle is close to the wheelchair, therefore preference will be given to the

Fig.3.Geometry of wheelchair

. IV. SMART WHEELCHAIR SIMULATION RESULTS The simulation work is done on the MATLAB fuzzy toolbox. The rule base is defined on Sugeno with the information of input and output parameters.

2013 IEEE Global Humanitarian Technology Conference: South Asia Satellite (GHTC-SAS) | 23-24 August 2013

A. Various Stages in Simulation In the simulation process there are various stages: First the input & output parameters are defined. In second step rules are defined on the Sugeno system. Obtaining variation in output values by variation in inputs on the basis of rules defined. 1) First stage: Defining input and output parameters First stage of simulation is shown in Fig.4 & Fig.5. Here various input & output parameters are defined with their membership functions on FIS.

3) Third stage: Variation of output variables with respect to variation in inputs In this stage, relation between input and output variables according to the defined rules is checked using the rule viewer.

Fig.7. Program Simulation Results

Fig.4. Input and Output Parameters on FIS

Fig.8. Surface values

Fig.7 and Fig.8 shows the variation of the output parameters with respect to the input parameters. The variation in output will occur according to the rules defined on the fuzzy rule-base. Therefore, the above results show that it is possible to implement the finger tip control and obstacle avoidance technologies using the fuzzy control for designing a smart wheelchair.
Fig.5. Membership Functions of Input & Output Parameters

V. CONCLUSION Thus the paper proposes a user friendly smart wheelchair. The wheelchair can be controlled by Finger Tip Control and has an ability to avoid obstacles because of the use of Ultrasonic Sensors. The use of fuzzy control has made the system more effective in terms of adaptability, functional complexity and cost. Thus the rule base defined in the paper can be utilized for proper controlling of the wheelchair. This wheelchair has very wide future scope because of its flexibility in terms of technologies utilized. In future, the wheelchair can be made fully autonomous by utilizing Neuro-fuzzy Inference System. Use of Neuro-fuzzy Inference System will enable the training of the wheelchair similar to human beings and hence the user efforts can be reduced.

2) Second stage: Defining the rules Fig.6 shows the rule base defined on the FIS. A set of 126 rules are defined in fuzzy rule base so as to enable proper controlling of the wheelchair.

Fig.6. Rules on FIS

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2013 IEEE Global Humanitarian Technology Conference: South Asia Satellite (GHTC-SAS) | 23-24 August 2013