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Journal : International Journal of Electrical and Computer Engineering

Autonomous open-source electric wheelchair platform with internet-of-things and proportional-integral-derivative control Maneetham, Dechrit; Crisnapati, Padma Nyoman; Thwe, Yamin
International Journal of Electrical and Computer Engineering (IJECE) Vol 13, No 6: December 2023
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v13i6.pp6764-6777

Abstract

This study aims to improve the working model of autonomous wheelchair navigation for disabled patients using the internet of things (IoT). A proportional-integral-derivative (PID) control algorithm is applied to the autonomous wheelchair to control movement based on position coordinates and orientation provided by the global positioning system (GPS) and digital compass sensor. This system is controlled through the IoT system, which can be operated from a web browser. Autonomous wheelchairs are handled using a waypoint algorithm; ESP8266 is used as a microcontroller unit that acts as a bridge for transmitting data obtained by sensors and controlling the direct current (DC) motors as actuators. The proposed system and the autonomous wheelchair performance gave satisfactory results with a longitude and latitude error of 1.1 meters to 4.5 meters. This error is obtained because of the limitations of GPS with the type of Ublox Neo-M8N. As a starting point for further research, a mathematical model of a wheelchair was created, and pure pursuit control algorithm was used to simulate the movement. An open-source autonomous IoT platform for electric wheelchairs has been successfully created; this platform can help nurses and caretakers.
Co-Authors Achmad Syaifudin Ade Widiyantara, I Putu Adi Yoga Dewantara, I Made Agus Sutrisna, I Kadek Aprilia Yustika Dewi, Aprilia Ardipa, Gede Sukra Arief Hadi Prasetyo Arief Hadi Prasetyo, Arief Hadi Arisandi, Ni Made Desi Aryasih, Putu Putri Ayu Nirma Lestari, Gusti Budaya, I Gede Bintang Arya Bunga Anindya, Made Cahyani, Agung Ayu Hanna Chawaphan, Pharan Dwi Suparyanta, Kadek Hanna Cahyani, Agung Ayu Haryantara, I Nyoman Hashim, Uda I Gede Mahendra Darmawiguna I Gusti Ayu Sri Melati, I Gusti Ayu I Ketut Resika Arthana I Komang Agus Ady Aryanto I Komang Ariesta Ananta, I Komang Ariesta I Komang Try Adi Stanaya, I Komang Try Adi I Made Gede Sunarya I Nyoman Haryantara I Nyoman Kusuma Wardana I Putu Dana Arista, I Putu Indriani, Ratri Dwi Jongsawat, Nipat Kadek Artawan Kadek Artawan, Kadek Kadek Oky Sanjaya Lanang Nugraha, Made Lenny Natalia, Lenny M.Cs S.Kom I Made Agus Wirawan . Made Frans Aditya Bramantya Kusuma Made Frans Aditya Bramantya Kusuma, Made Frans Aditya Bramantya Made Windu Antara Kesiman Maemonah, Maemonah Maneetham, Dechrit Mariyantoni, I Kadek Yostab Merta, I Gede Muchammad Naseer Ni Kadek Sumiari, Ni Kadek Ni Komang Oktari Permata Sari Oky Sanjaya, Kadek Pamungkas, Yuri Pande, I Made Suandana Astika Pandu Wibawa S, I Wayan Prawira, Putu Yoka Angga Putra Yasa, Gede Agus Putu Angga Sudyatmika Putu Devi Novayanti Putu Putri Sanjani, Dewa Ayu Ratna Kartika Wiyati, Ratna Kartika Reditya Ary Prasetya, Agus Nyoman Rendy Syahrial, Lalu Ricky Aurelius Nutanto Diaz, Ricky Aurelius Roman Apriyansyah, Roman Shofwan Hanief Sri Darmaningsih, Luh Suarningsih, Putu Susena, I Komang Sutrisna Oka, Ketut Tri Thwe, Yamin Tirta Murdika, I Made Tungkasthan, Anucha Udayana, Ketut Wira Widiantara, Eka Putra Wikan Paramasila, Kadek Yoga Antara, I Made Yoka Angga Prawira, Putu Yostab Mariyantoni, I Kadek Yudiantara, I Made