Presentation Title

Implementation of a low-cost ultrasonic sensor dynamic obstacle avoidance algorithm for autonomous wheelchair

Faculty Mentor

Fumio Hamano

Start Date

17-11-2018 8:30 AM

End Date

17-11-2018 10:30 AM

Location

HARBESON 66

Session

POSTER 1

Type of Presentation

Poster

Subject Area

engineering_computer_science

Abstract

The number of Americans who are over 65 years old is estimated to double from when it was in 2000 by the year 2030. As a result, the demand for health care practitioners to cater to this demographic of patients will increase faster than the actual increase of workforce each year. To alleviate this high demand, the autonomous wheelchair is designed to eliminate the need for human support for transporting elderly patients within hospitals. Thus, worker efficiency and multitasking is improved. A model autonomous wheelchair is emulated using a differential drive robot, which is equipped with low-cost ultrasonic sensors connected to an Arduio Mega with Atmega 2560 microprocessor, as it navigates throughout a room that simulates a hospital floor setting. As a hospital setting is often high in traffic, the robot must be designed to deal with unpredictable dynamic obstacles. An algorithm is developed then implemented to receive and complete a waypoint task. For instance, the autonomous wheelchair may be instructed to travel from room A to room B. An algorithm utilizing ultrasonic sensors will be used to detect and maneuver around dynamic obstacle based on the pattern of which the sensors were triggered. This allows the robot to estimate the relative velocity of the obstacle and correct its path when necessary.

Summary of research results to be presented

During the oral presentation, I will show the results that present the decision making of the robot based on the sensor triggering algorithm. I will present the logic behind the algorithm and the data point data and how it is interpreted by the algorithm. I will show the different maneuvers taken based on the relative position of the obstacle from the robot frame. Further, I will talk about the how successfully the robot is able to use ultrasound sensor data to detect a dynamic obstacle, as well as how this research can be improved and future implications of this algorithm.

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Nov 17th, 8:30 AM Nov 17th, 10:30 AM

Implementation of a low-cost ultrasonic sensor dynamic obstacle avoidance algorithm for autonomous wheelchair

HARBESON 66

The number of Americans who are over 65 years old is estimated to double from when it was in 2000 by the year 2030. As a result, the demand for health care practitioners to cater to this demographic of patients will increase faster than the actual increase of workforce each year. To alleviate this high demand, the autonomous wheelchair is designed to eliminate the need for human support for transporting elderly patients within hospitals. Thus, worker efficiency and multitasking is improved. A model autonomous wheelchair is emulated using a differential drive robot, which is equipped with low-cost ultrasonic sensors connected to an Arduio Mega with Atmega 2560 microprocessor, as it navigates throughout a room that simulates a hospital floor setting. As a hospital setting is often high in traffic, the robot must be designed to deal with unpredictable dynamic obstacles. An algorithm is developed then implemented to receive and complete a waypoint task. For instance, the autonomous wheelchair may be instructed to travel from room A to room B. An algorithm utilizing ultrasonic sensors will be used to detect and maneuver around dynamic obstacle based on the pattern of which the sensors were triggered. This allows the robot to estimate the relative velocity of the obstacle and correct its path when necessary.