Open Access

ARTICLE

Design and Implementation of Wheel Chair Control System Using Particle Swarm Algorithm

by G. Mousa¹, Amr Almaddah², Ayman A. Aly^3,*

1 Mechanical Engineering Department, College of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
2 Electrical and Computer Engineering, College of Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
3 Mechanical Engineering Department, College of Engineering, Taif University, Taif, 21944, Saudi Arabia

* Corresponding Author: Ayman A. Aly. Email:

(This article belongs to the Special Issue: Emerging Computational Intelligence Technologies for Software Engineering: Paradigms, Principles and Applications)

Computers, Materials & Continua 2021, 66(2), 2005-2023. https://doi.org/10.32604/cmc.2020.012580

Received 05 July 2020; Accepted 12 August 2020; Issue published 26 November 2020

Abstract

About 10–20% of every country’s population is disable. There are at least 650 million people with a kind of disability worldwide. Assistance and support are perquisites for many handicap people for participating in society. Electric powered wheelchairs provide efficient mobility to motor impaired persons. In this paper a smart controller of a wheel chair mobile robot using Particle Swarm Optimization Proportional controller (PSO-P) was proposed where (PSO) algorithm was utilized to tune the proportional controller’s gains for each axis. Aiming to improve wheelchair tracking trajectory, a kinematic model of a robot with linear and angular velocities parameters was developed. The controller performance was examined using the system parameters with respect to trajectory references. A simulation of the proposed controller showed good correlation of the trajectory track under different loading conditions.

---

Keywords

---

Citations