@Article{cmc.2020.012580,
AUTHOR = {G. Mousa, Amr Almaddah, Ayman A. Aly},
TITLE = {Design and Implementation of Wheel Chair Control System Using Particle Swarm Algorithm},
JOURNAL = {Computers, Materials \& Continua},
VOLUME = {66},
YEAR = {2021},
NUMBER = {2},
PAGES = {2005--2023},
URL = {http://www.techscience.com/cmc/v66n2/40640},
ISSN = {1546-2226},
ABSTRACT = {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 (<i>PSO-P</i>) was proposed where (<i>PSO</i>) 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.},
DOI = {10.32604/cmc.2020.012580}
}