Date of Award
Master of Science (MS)
Electrical and Computer Engineering
Raymond A. DeCarlo
Committee Member 1
Michael D. Zoltowski
This thesis investigates movement of an electric wheelchair as a wheeled mobile robot (WMR) with a battery rechargeable through regenerative braking.The WMR has two wheels, each of which can propel or brake. This leads to four modes of operation: propel-propel, brake-brake, propel-brake, and brake-propel. Braking can be either done by a propelling wheel using negative torques or by regenerative braking which also applies a negative torque.
The thesis begins with a presentation of the WMR model. Performances Indices (PI) are introduced as metrics for specific driving scenarios. For almost all scenarios, the PI is used in a model predictive control (MPC) strategy for the following set of scenarios with and without noisy measurements on the distance to a wall which simulate a noisy sensor measurement for:
-a wall following scenario
-a wall cornering scenario
-a combined scenario
Results of a combined scenario with Parkinsonian noise on distance to the wall measurements and velocity with and withoutthe use of a notch filter are presented and interpreted.
Finally Parkinsonian noise is imposed on a joystick wheelchair control scenario with and without the use of a notch filter.
The central result of this thesis is to erase the Parkinsonian tremor from the input of the joystick of a electric wheelchair to improve the life quality of disabled users.
Just, Fabian, "A Strategy for Minimizing Parkinsonian Noise from a Joystick Controlled Wheeled Mobile Robot" (2013). Open Access Theses. 39.