SITUATION-DRIVEN CONTROL OF A ROBOTIC WHEELCHAIR TO FOLLOW A CAREGIVER

Introduction:
In the last decade, a variety of robotic/intelligent wheelchairs have been proposed to meet the need in aging society. Their main research topics are autonomous functions such as moving toward some goals while avoiding obstacles, or user-friendly interfaces. Although it is desirable for wheelchair users to go out alone, caregivers often accompany them. Therefore we have to consider not only autonomous functions and user interfaces but also how to reduce caregivers load and support their activities in a communication aspect. From this point of view, we have proposed a robotic wheelchair moving with a caregiver side by side based on the MATLAB process.

Existing system:
In Existing system the control is using keypad or someone has to help in moving the wheel chair and here we introduce a new technique in this we can track the caregivers body orientation by considering its shape so that the wheelchair can make a turn when the caregiver is going to change his/her moving direction. Based on these observations of the caregiver, our wheelchair can move with the caregiver side by side.

Proposed System:
In this project we discussing about robotic wheel chair to follow a caregiver by using a microcontroller, Ultrasonic sensor, keypad, Motor drivers to operate robot. Using camera interfaced with the PC image is captured. The captured image are then processed by using image processing technique, the processed image are then converted into voltage levels through MAX 232 level converter and given it to the microcontroller unit serially and ultrasonic sensor to detect the obstacle in front of robot. In this robot we have mode selection switch Automatic and Manual control of robot, we use ultrasonic sensor in automatic mode to find obstacle, in Manual mode to use the keypad to operate wheel chair. In the microcontroller unit, c language coding is predefined, according to this coding the robot which connected to it was controlled. Robot which

has several motors is activated by using the motor drivers. Motor drivers are nothing but a switch which ON/OFF the motor according to the control given by the microcontroller unit.

Block Diagram:

Power Supply

Keypad

Ultrasonic Sensor

Recognition DC Motor AT89C51 Authentication MAX 232 Microcontroller Motor Drivers Processing DC Motor

Mode Select Switch

Hardware Requirements:
8051 microcontroller with power supply Robot mechanism Ultrasonic Sensor Motor Driver Web camera Keypad Max232 PC

Software Requirements:
Keil C compiler Embedded C MATLAB

Advantages: Reduces the physical work.