Implementation of smart wheelchair with obstacle avoidance

Abstract

The primary goal of this work is to develop a dependable and efficient solution for maintaining optimal mobility in wheelchair systems. The aim is to enhance functionality and reduce the user’s physical effort required to move the wheelchair wheels. The proposed system integrates advanced sensing technology, intelligent control algorithms, and robust hardware components to manage the wheelchair, detect obstacles, and eliminate the need for external assistance. This wheelchair employs joystick control and halts when the system senses an obstacle. The system enhances user autonomy by providing ease of control and ensures safety by detecting and avoiding obstacles. Motor speeds are adjusted based on joystick input, and the motor direction (forward, backward, left, right) is determined accordingly. An ultrasonic sensor measures obstacle distance, and if an obstacle is detected (distance <= 20cm), both motors stop, and a warning buzzer activates for 1 second. If no obstacle is detected, the warning buzzer turns off, and motor speeds are adjusted based on joystick input. The system effectively demonstrated obstacle avoidance by changing direction when a command was issued away from the obstacle. The outcomes of this study contribute valuable insights to the field of wheelchairs, specifically in the realm of obstacle avoidance.