A Driving Behaviour Model of Electrical Wheelchair Users

Author:

Onyango S. O.1ORCID,Hamam Y.1,Djouani K.1,Daachi B.2,Steyn N.1

Affiliation:

1. F’SATI, Tshwane University of Technology, Private Bag Box X680, Staatsartillerie Road, Pretoria West, Pretoria 0001, South Africa

2. Laboratoire d’Informatique Avancée de Saint de Denis (LIASD), University of Paris 8, France

Abstract

In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user’s steering behaviour. This paper contributes to wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory regression analysis results.

Funder

National Research Foundation

Publisher

Hindawi Limited

Subject

General Mathematics,General Medicine,General Neuroscience,General Computer Science

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