RTAI Based Real-Time Control of Robotic Wheelchair (2004)

by Chong Hui Kim. Seong Jin Kim. Byung Kook Kim.

In order to provide autonomous mobility, a robotic wheelchair requires various tasks such as sensing, localization, obstacle detection, and motor control, which is a very complex control system. In this paper, we present a real-time control system design for robotic wheelchairs based on RTAI. We developed a multiprocessor-based robotic wheelchair platform for the disabled . Based on discussions on real-time requirements of robotic wheelchairs, we designed an eficient software architecture for autonomous real- time control of robotic wheelchairs. The performance is revealed by experimental results carried out at the Intelligent Sweet Home in KAIST. [via]

http://www.linuxdevices.com/files/rtlws-2004/...