走行危険度を考慮した電動車いすのファジィ推論型障害物回避制御

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2012/06/01

タイトル(英語): Fuzzy Inference Based Obstacle Avoidance Control of Electric Powered Wheelchair Considering Driving Risk

著者名: 木曽　淳（千葉工業大学 工学部 電気電子情報工学科），村上　博紀（(株) 吉野工業所），関　弘和（千葉工業大学 工学部 電気電子情報工学科）

著者名(英語): Atsushi Kiso (Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology), Hiroki Murakami (Yoshinokogyosho Corporation), Hirokazu Seki (Department of Electrical, Electronics and Computer Engineering, Faculty of Engineering, Chiba Institute of Technology)

キーワード: 高齢者障害者支援，電動車いす，超音波センサ，障害物回避制御，走行危険度，ファジィアルゴリズム　　support for elderly people and disabled people，electric powered wheelchair，ultrasonic sensor，obstacle avoidance control，driving risk，fuzzy algorithm

要約(英語): This paper describes a novel obstacle avoidance control scheme of electric powered wheelchairs for realizing the safe driving in various environments. The "electric powered wheelchair" which generates 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 driving performance must be further improved because the number of driving accidents caused by elderly operator's narrow sight and joystick operation errors is increasing. This paper proposes a novel obstacle avoidance control scheme based on fuzzy algorithm to prevent driving accidents. The proposed control system determines the driving direction by fuzzy algorithm based on the information of the joystick operation and distance to obstacles measured by ultrasonic sensors. Fuzzy rules to determine the driving direction are designed surely to avoid passers-by and walls considering the human's intent and driving environments. Some driving experiments on the practical situations show the effectiveness of the proposed control system.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.132 No.6 （2012） 特集：データ指向型モデリング/予測/制御

本誌掲載ページ: 952-959 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/132/6/132_952/_article/-char/ja/