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Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair

Patients with severe motor disabilities have difficulty maneuvering a wheelchair. An autonomous wheelchair with facility for destination selection via a brain-computer interface or eye tracker would be a possible solution. Accurate localization is important for such an autonomous wheelchair. Normal...

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Main Author: Soh, Ying Wei
Format: Final Year Project / Dissertation / Thesis
Published: 2018
Subjects:
TP Chemical technology
Online Access:http://eprints.utar.edu.my/3622/1/ESA%2D2018%2D1406778%2D1.pdf
http://eprints.utar.edu.my/3622/
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spelling my-utar-eprints.36222019-12-16T12:07:12Z Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair Soh, Ying Wei TP Chemical technology Patients with severe motor disabilities have difficulty maneuvering a wheelchair. An autonomous wheelchair with facility for destination selection via a brain-computer interface or eye tracker would be a possible solution. Accurate localization is important for such an autonomous wheelchair. Normally relative localization of the wheelchair is carried out using an odometry method based on data from the wheel encoders. The current study aims to reduce wheelchair navigation errors in an indoor environment by the introduction of an additional sensor - a gyroscope. Fusion of the wheel encoders and gyroscope was effected using indirect feedback Kalman filter algorithm. The algorithm was programmed in a small memory microcontroller to increase the portability of the wheelchair. The results of the study showed that fusion of encoders and gyroscope using indirect feedback Kalman filter significantly improved the wheelchair navigation accuracy (as high as 7.8 folds) in terms of mean distance errors compared to using odometry. 2018 Final Year Project / Dissertation / Thesis NonPeerReviewed application/pdf http://eprints.utar.edu.my/3622/1/ESA%2D2018%2D1406778%2D1.pdf Soh, Ying Wei (2018) Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair. Master dissertation/thesis, UTAR. http://eprints.utar.edu.my/3622/
institution Universiti Tunku Abdul Rahman
building UTAR Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tunku Abdul Rahman
content_source UTAR Institutional Repository
url_provider http://eprints.utar.edu.my
topic TP Chemical technology
spellingShingle TP Chemical technology
Soh, Ying Wei
Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair
description Patients with severe motor disabilities have difficulty maneuvering a wheelchair. An autonomous wheelchair with facility for destination selection via a brain-computer interface or eye tracker would be a possible solution. Accurate localization is important for such an autonomous wheelchair. Normally relative localization of the wheelchair is carried out using an odometry method based on data from the wheel encoders. The current study aims to reduce wheelchair navigation errors in an indoor environment by the introduction of an additional sensor - a gyroscope. Fusion of the wheel encoders and gyroscope was effected using indirect feedback Kalman filter algorithm. The algorithm was programmed in a small memory microcontroller to increase the portability of the wheelchair. The results of the study showed that fusion of encoders and gyroscope using indirect feedback Kalman filter significantly improved the wheelchair navigation accuracy (as high as 7.8 folds) in terms of mean distance errors compared to using odometry.
format Final Year Project / Dissertation / Thesis
author Soh, Ying Wei
author_facet Soh, Ying Wei
author_sort Soh, Ying Wei
title Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair
title_short Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair
title_full Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair
title_fullStr Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair
title_full_unstemmed Indirect Feedback Kalman Filter Based Sensor Fusion for Reducing Navigation Errors of an Autonomous Wheelchair
title_sort indirect feedback kalman filter based sensor fusion for reducing navigation errors of an autonomous wheelchair
publishDate 2018
url http://eprints.utar.edu.my/3622/1/ESA%2D2018%2D1406778%2D1.pdf
http://eprints.utar.edu.my/3622/
_version_ 1654964134239797248
score 13.211869

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