Simulation of a Two-wheeled Self-balancing Wheelchair using ROS-Gazebo

摘要

Wheelchairs are generally used as heplful systems; it is evaluated that 1.6 to 2.2 million people around the world use these wheelchairs. It’s approached that 65 million people need the operation of a wheelchair. The proportion of those individualities(83%) strongly need a wheelchair. With regard to the acceptance of wheelchair among people that are physically impaired, this paper tries to use a base package that is provided a simple self-balancing robot and utilize this to conduct further research. This model employes Robotic Operating System(ROS) tools to help the addition of motors and sensors. Employing the ROS-nodes, it’s straightforward to outline new options and and regulators. The Gazebo software is used to produce the simulation surroundings. Following former work, in the following stage, a controller is employed for the wheels that gets commands from ROS tools and can control the upright posture of the simulated wheelchair by making use of a classic Proportional Integral Derivative(PID) controller.