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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Artificial Intelligence (IJ-AI) Applied Information System and Management Buletin Ilmiah Sarjana Teknik Elektro Journal of Robotics and Control (JRC) International Journal of Robotics and Control Systems
Thwe, Yamin
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Mechanical Engineering

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Journal : International Journal of Electrical and Computer Engineering

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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 Abdul Karim Eri Rustamaji Evi Triandini Hashim, Uda Indriani, Ratri Dwi Jongsawat, Nipat Maneetham, Dechrit Muhammad, Fadly Hakim Padma Nyoman Crisnapati Qurrotul Aini Tungkasthan, Anucha Wawan Yunanto Yuri Pamungkas