Vol.66, No.2, 2021, pp.2005-2023, doi:10.32604/cmc.2020.012580
Design and Implementation of Wheel Chair Control System Using Particle Swarm Algorithm
  • G. Mousa1, Amr Almaddah2, Ayman A. Aly3,*
1 Mechanical Engineering Department, College of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
2 Electrical and Computer Engineering, College of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
3 Mechanical Engineering Department, College of Engineering, Taif University, Taif, 21944, Saudi Arabia
* Corresponding Author: Ayman A. Aly. Email:
(This article belongs to this Special Issue: Emerging Computational Intelligence Technologies for Software Engineering: Paradigms, Principles and Applications)
Received 05 July 2020; Accepted 12 August 2020; Issue published 26 November 2020
About 10–20% of every country’s population is disable. There are at least 650 million people with a kind of disability worldwide. Assistance and support are perquisites for many handicap people for participating in society. Electric powered wheelchairs provide efficient mobility to motor impaired persons. In this paper a smart controller of a wheel chair mobile robot using Particle Swarm Optimization Proportional controller (PSO-P) was proposed where (PSO) algorithm was utilized to tune the proportional controller’s gains for each axis. Aiming to improve wheelchair tracking trajectory, a kinematic model of a robot with linear and angular velocities parameters was developed. The controller performance was examined using the system parameters with respect to trajectory references. A simulation of the proposed controller showed good correlation of the trajectory track under different loading conditions.
PSO; mobile robot; trajectory tracking; tracking control
Cite This Article
G. Mousa, A. Almaddah and A. A. Aly, "Design and implementation of wheel chair control system using particle swarm algorithm," Computers, Materials & Continua, vol. 66, no.2, pp. 2005–2023, 2021.
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