TY - EJOU AU - Mousa, G. AU - Almaddah, Amr AU - Aly, Ayman A. TI - Design and Implementation of Wheel Chair Control System Using Particle Swarm Algorithm T2 - Computers, Materials \& Continua PY - 2021 VL - 66 IS - 2 SN - 1546-2226 AB - 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. KW - PSO; mobile robot; trajectory tracking; tracking control DO - 10.32604/cmc.2020.012580