A Study for High Functionality of Electric Wheelchair withRecognition of Driving Environment

这项研究的目的是实现电动辅助轮椅的高功能，并识别驾驶环境。为了支持轮椅使用者和照顾者，识别驾驶环境是非常重要的。在本研究中，使用了各种传感器来测量上坡或下坡坡角处的驾驶环境状态。本文研究了基于低成本传感器的带加速度补偿的坡度角估计问题。提出了结合倾斜角动态估计方法的自适应控制系统设计。该方法估计了使用者和轮椅的质量、滚动摩擦系数和粘滞系数等物理参数。最后，通过仿真和实验结果验证了所提出的估计方法和自适应控制设计的有效性。

The purpose of this study is to realize a high functionality of a power-assisted wheelchair with recognition of the driving environment. It is very important to recognize the driving environment in order to support wheelchair users and caregivers. In this study, various kinds of sensors are used to measure the state of the driving environment where is slope angle of uphill or downhill. This study deals with the estimation problem of slope angle with acceleration compensation based on low-cost sensors. And we also propose the adaptive control system design that is combined the dynamic estimation method of the slope angle. The proposed method estimate physical parameters that are mass of user and wheelchair, coefficient of rolling friction and coefficient of viscosity. Finally, the effectiveness of the proposed estimation method and the adaptive control design was confirmed by simulation and experimental results.