Multi-Sensor Fusion of the Foreleg Mechanism for Wheelchair Climbing-Stairs

DOI

10.2991/caai-18.2018.15How to use a DOI?

Keywords

foreleg; multi-sensors; wheelchair climbing-stair

Abstract

The foreleg mechanism plays an important role to carry out climbing stairs and crossing obstacles for wheelchair climbing-stairs. Multi-sensors are placed on different site of the foreleg mechanism, and their measurement values timely decide and control the foreleg position and posture change. The driver module includes multi-sensors, relay operation, and motor fuzzy control, and the control system module includes manual and automatic control. Multi-machine communication is realized to exchange data between the top computer and MCU. An effective multi-sensor fusion algorithm is proposed to describe the process of the foreleg motion. Error factors of influencing sensor measurement are analyzed, and the experimental result shows the effectiveness of the multi-sensors fusion algorithm.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Dongxing Cao
AU  - Weixiang Di
AU  - Qiang Wang
AU  - Minfei Li
PY  - 2018/08
DA  - 2018/08
TI  - Multi-Sensor Fusion of the Foreleg Mechanism for Wheelchair Climbing-Stairs
BT  - Proceedings of the 2018 3rd International Conference on Control, Automation and Artificial Intelligence (CAAI 2018)
PB  - Atlantis Press
SP  - 66
EP  - 70
SN  - 2589-4919
UR  - https://doi.org/10.2991/caai-18.2018.15
DO  - 10.2991/caai-18.2018.15
ID  - Cao2018/08
ER  -