Steering Direction for a Powered-Wheelchair Using the Analytical Hierarchy Process

For the first time, the Analytical Hierarchy Process (AHP) is employed to recommend a steering course for a powered-wheelchair. A safe route for a wheelchair is proposed by the decision-making system that tends to evade obstacles. Two ultrasonic transceivers are mounted onto a wheelchair. The resulting route is a blend between a provided direction from a user's joystick and a proposed direction from the decision making system that steers a powered-wheelchair to safely avoid obstacles in the way of the wheelchair. The procedure assists a disabled user to steer their wheelchair by choosing a direction that is a compromise between a direction suggested by the sensors and a direction requested by the driver. Sensitivity analysis explores directions amid uncertainty and risk. An appropriate direction is chosen but a human driver can over-ride the decision if necessary.