| dc.description.abstract |
In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties
that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To
appreciate the assistance, there is need that the assistive control is adaptable to the user’s steering behaviour. This paper contributes to
wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control
system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The
method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data
for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented
platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory
regression analysis results. |
en_US |