An Intelligent Controller for an Assisted Electric Wheelchair based on Interval Type-2 Fuzzy Logic

This paper proposes an intelligent controller design for an assisted electric wheelchair using interval type-2 fuzzy logic controller. The controller design has been structured using cascaded fuzzy inference system with feedback loop to avoid obstacles. In addition, to control the dynamics of the wheelchair, a speed fuzzy inference system has been added to the proposed controller. The controller is designed so that the user input is firstly obtained from the wheelchair joystick. The surrounding obstacles, thereafter, are detected using the input of three sensors attached to the wheelchair. At each time step, and until reaching the target point, the performed controller output generates both the motion angle and the wheelchair speed commands. The performance of the controller is tested by simulating the wheelchair travelling in different navigation scenarios. The simulation results confirm the effectiveness of the presented controller.