Intelligent wheelchair obstacle avoidance design based on fuzzy PID control

WANG Yu; WANG Dazhi; ZHOU Yufeng

doi:10.12299/jsues.23-0216

Volume 38 Issue 3

Sep. 2024

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Article Navigation > Journal of Shanghai University of Engineering Science > 2024 > 38(3): 250-256

WANG Yu, WANG Dazhi, ZHOU Yufeng. Intelligent wheelchair obstacle avoidance design based on fuzzy PID control[J]. Journal of Shanghai University of Engineering Science, 2024, 38(3): 250-256. doi: 10.12299/jsues.23-0216

Citation:

WANG Yu, WANG Dazhi, ZHOU Yufeng. Intelligent wheelchair obstacle avoidance design based on fuzzy PID control[J]. Journal of Shanghai University of Engineering Science, 2024, 38(3): 250-256. doi: 10.12299/jsues.23-0216

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Intelligent wheelchair obstacle avoidance design based on fuzzy PID control

doi: 10.12299/jsues.23-0216

WANG Yu^1
,,
WANG Dazhi²,
ZHOU Yufeng^{1
,
,}

1.
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2.
Institute of Optics and Electronics, Chinese Academy of Sciences, University of Chinese Academy of Sciences, Chengdu 610209, China

Received Date: 2023-10-12
Publish Date: 2024-09-30

Abstract

Abstract

In order to improve obstacle avoidance accuracy of intelligent wheelchair, a control algorithm of intelligent wheelchair based on fuzzy PID control was proposed. The kinematics model of intelligent wheelchair was established, and the intelligent wheelchair control system based on Fuzzy PID control was designed on the basis of traditional PID control method. Matlab was used to construct simulation tests, the fuzzy controller was designed and constructed in Simulink, and the obstacle avoidance performances of traditional and fuzzy PID control were simulated. The experimental results show that the control algorithm can optimize the obstacle avoidance error of intelligent wheelchair, and it has advantages of small overshoot, fast response, and higher accuracy compared with the traditional PID control algorithm.
- intelligent wheelchair,
- fuzzy PID control,
- obstacle avoidance

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References(18)

References

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