A Wireless Test-bed of Front Wheel Drive Wheelchair for Stability Control Prototyping

Abstract

A wireless test-bed of a front wheel drive wheelchair has been developed to rapidly validate the model and create a virtual closed loop feedback controller. It integrates sensors, embedded controller, and the motorised mechanical system. The control system, which aims to eliminate the inherent and driver induced instabilities, can be tested with the integrated test-bed. The wireless communication ensures the integrity of sensor data collected and control signals sent. The developed test-bed not only facilitates the controller development of motorised wheelchairs, and wheeled mobile robots in general; but also serves an excellent mechatronics teaching platform.