MATLAB-Based 3D Dynamic Model of a Powered Wheelchair
Authors: Anas Fattouh, YEHYA DADAM, D. T PAHM
Abstract
In this paper, a detailed dynamic model of a powered wheelchair is obtained. This model not only takes in consideration the kinematics equations of a powered wheelchair but also includes all other parts of a powered wheelchair such as the power module and the DC motors. Then a 3D model of the powered wheelchair is designed using virtual reality modeling language (VRML). This 3D model can be integrated in any 3D VRML environment including a domestic environment. Finally, the dynamic model is used with the 3D model of the powered wheelchair in a simulation system. This can later be used to simulate the behavior of the powered wheelchair in different environments using different control algorithms.
It would be good if you can provide simulation results showing the wheelchair controlled variables tracking a set of references.
What was the type of control used to steer the wheel chair to its destination?
Dear Xuedong,
In order to use the proposed 3D Model in Matlab for guidance and obstacle avoidance you have to develop a model for the controller (for guidance) and a model for sensors (for obstacle avoidance).
However collision detection cannot be detected in Matlab (from my experience) so I used another program for collision detection (which is Virtools.com).
Regards,
Anas.
Dear Sir,
The proposed model models only the dynamic of wheelchair without any control. Now you can use this model with a any kind of control to test the performance of your controller. However you have to provide a model for your controller.
For the simulation in my paper I used a joystick connected to my PC to steer the wheelchair and I used also the keyboard for the same objective.
Best Regards.
Anas.
This presentation is intended to tutorially enhance the utility and understanding of the analytical and numerical representations for the wave propagation problem inside a wedge-waveguide with both non-penetrable and penetrable boundaries; through visualizations of the dynamical interaction between the various wave species, implemented through educational Matlab packages. The first package has been prepared for the exploration of line-source-excited wave fields in terms of normal, adiabatic and intrinsic mode solutions. The second package belongs to one-way split-step parabolic equation modeling for the visualizations of modal leakage.
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Submited by : Recetas
Dear Fattouh,
As this paper mentioned:
It can also be used to test different algorithms for guidance and obstacle avoidance.
The collision detection was done by the Matlab or 3D VRML environment or customized program?
Redards,
Xuedong