Remote Controlled Wheelchair With Collision Avoidance

Joseph D’Amato

Husein Rashed

Steven Ostertag

Rohan Vivek

T.S. Rockwel l

Remote Controlled WheelchairWith Collision Avoidance

A. HardwareI. The Raspberry Pi (vs Arduino)

- Better Support – Python- Better Development Environment – SSH, HDMI Output- Tradeoff – Less ideal for real-time system

II. User Inputa. The WiiMote

- Bluetooth Interface- Well defined python module available

b. The Joystick- Inexpensive- USB Interface- Well defined python module available

III. Sensor Input – Ultrasonic- Used for similar applications in cars (backup sensor)- Cheap- Easy to use

IV. Motor Control- Controlled with PWM from the Pi

The System

B. System OperationI. User in Chair

- Operates chair in same manner as standard electric wheelchair

II. Remote User- Has ability to gain control of the wheelchair while disabling

onboard control- Remote user maintains control of the wheelchair until released- Uses directional pad on remote for forward/backward/left/right

III. Safety- Ultrasonic sensors placed strategically to prevent collisions

The System

Software

• All this plus…

• Major Modules – Contents of each program file

• Connections• Future Plans• Reported Problems

Inside The PDF

?Questions?