IntellWheels: Modular development platform for intelligent wheelchairs

Rodrigo Antonio Marques Braga, Marcelo Petry, Luis Paulo Reis, Antnio Paulo Moreira
<span title="">2011</span> <i title="Journal of Rehabilitation Research &amp; Development"> <a target="_blank" rel="noopener" href="" style="color: black;">Journal of rehabilitation research and development</a> </i> &nbsp;
Intelligent wheelchairs (IWs) can become an important solution to the challenge of assisting individuals who have disabilities and are thus unable to perform their daily activities using classic powered wheelchairs . This article describes the concept and design of IntellWheels, a modular platform to facilitate the development of IWs through a multiagent system paradigm. In fact, modularity is achieved not only in the software perspective, but also through a generic hardware framework that was
more &raquo; ... esigned to fit, in a straightforward manner, almost any commercial powere d wheelchair. Experimental results demonstrate the successful integration of all modules in the platform, providing safe motion to the IW. Furthermore, the results achieved with a prototype running in autonomous mode in simulated and mixed-reality environments also demonstrate the potential of our approach. Although some future research is still necessary to fully accomplish our objectives, preliminary tests have show n that IntellWheels will effectively reduce users' limitations, offering them a much more independent life. Abbreviations: ACL = agent communication language, FIPA = Foundation for Intelligent Physical Agents, GU I = graphical user interface, IW = intelligent wheelchair, JADE = Java Agent DEvelopment Framework, MAS = multiagent system, MMI = multimodal interface, MR = mixed reality, PDDL = planning domain definition language, PID = proportional-integralderivative, UDP = user datag ram protocol, USB = uni versal serial bus.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="">doi:10.1682/jrrd.2010.08.0139</a> <a target="_blank" rel="external noopener" href="">fatcat:uqg6zd44ajgkjkp347lf3g6rk4</a> </span>
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