Prime Mobility Group

Group Members:Fredrick BaggettWilliam CrickSean Maxon

Advisor:Dr. Elliot Moore

Wheelchair that uses sensors in conjunction with a controller for autonomous operation.

Disabled individuals who may not be able to safely operate an ordinary wheelchair.

Primary market will be disabled individuals, hospitals, and healthcare institutions.

2

3

4

5

Powerchair ElectronicsPowerchair Electronics

CompactRIO

Controller

CompactRIO

Controller

User InputUser Input

Vision SystemVision

System

Shaft Encod

ers

Shaft Encod

ers

Drive MotorsDrive

Motors

6

NI Interface

C Series Module Connection

TTL Logic Signals

Shaft EncoderSignals

7

Desired

Speed

Error

current speed

Speed Adjustment

Speed determined

from encoder data

Current Speed

Encoder Data

8

Vision System

Original image Image

with blue color tracking9

“Laser Range Finder”

10

SICK LMS-291 180 degree Field of View 1° angular resolution 30 meter range

11

Initialization

Supervisory

Control

Target

Following

Stop

12

Target Emblem

L C R

13

Obstacles are not allowed in the Green Safety

Zones:

14

15

16

LIDAR Range

Measurements

LIDAR Range Measurement

s

Image’s Y-Axis Pixel

Height

Mapping

17

Image’s Y-Axis Pixel

Height

18

X

Y

19

20

•Vision System:• Camera + LIDAR

•Chair Control:•Interface, Shaft Encoders

•Behavior & Programming:• Target Following Mode, Supervisory Control Mode

21