Wheelchair safety system using fuzzy logic controller to avoid obstruction

Abstract

A wheelchair is the primary means of mobility for individuals unable to walk. This study aimed to develop a safety system for electric wheelchairs to help people with tetraplegia avoid obstructions. The main contribution of this study is the implementation of a sensor with a wider reflection angle and the adjustment of the wheelchair's speed based on the distance to the obstruction, eliminating the need for manual speed selection. The safety system utilizes LV-MaxSonarEZ1 ultrasonic sensors, which function as reflectance distance readers placed on the front, rear, right, and left sides of the wheelchair. The output from the sensors is input into an Arduino, which functions as the controller. The safety system employs adaptive speed control based on distance through a fuzzy logic controller. The wheelchair was tested with obstruction distances of 1, 1.8, 3, and 10 m. The wheelchair could stop at a distance of 34.06 cm for forward movement and 45.16 cm for reverse movement. The results of this study successfully demonstrate the creation of a safety system on a wheelchair using ultrasonic sensors to avoid obstructions and detect areas, with more adaptive speed control based on distance through a fuzzy logic controller.