Kafa Hareketleriyle Kontrol Edilebilen Yarı-Otonom Elektrikli Tekerlekli Sandalye Geliştirilmesi

Bu makalede, kafa hareketleriyle kontrol edilebilen yarı-otonom elektrikli tekerlekli sandalyenin tasarımına ve geliştirilmesine yönelik yapılan çalışmalar anlatılmaktadır. Sistemin istenen düzeyde çalışabilmesi için çeşitli algoritmalar, tanımlanan problem özelinde sisteme adapte edilmiştir. Kullanıcı önceden tanımlanmış özel kafa hareketleriyle sistemi açıp kapayabilmekte; yarı-otonom destekli ve desteksiz sürüş modlarına sokabilmektedir. Çalışmanın ana kapsamını oluşturan destekli sürüş modunda, hatalı kullanıcı girişlerinin tehlikeli sonuçlara dönüşmemesi için yarı-otonom sistem sürüşe destek olmakta ve gerektiği durumlarda değişen oranlarda devreye girerek sürüşü iyileştirmektedir. Yapılan geliştirmeler gerçek bir tekerlekli sandalye platformu üzerinde başarıyla uygulanmış ve sonuçlar incelenmiştir

Design of a Semi-Autonomous Electric Wheelchair Controlled by Head Movements

In this study, the design and development of a semi-autonomous electric wheelchair which is controlled by head movements is explained. For the system to function at the desired level, various algorithms are specially adapted to the system in the framework of the defined problem. The user is able to turn on and turn off the system or switch between assisted and unassisted driving modes, by doing the special pre-defined head movements. In the assisted driving mode, which constitutes the main scope of the work, the semi-autonomous system supports and improves driving by interfering in different rates when it is necessary. So that the faulty user inputs do not result with dangerous situations. The algorithms for a semi-autonomous solution are tested on a real wheelchair platform successfully and the results are presented

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