Joseph D’Amato
Husein Rashed
Steven Ostertag
Rohan Vivek
T.S. Rockwel l
Remote Controlled WheelchairWith Collision Avoidance
A. HardwareI. The Raspberry Pi (vs Arduino)
- Better Support – Python- Better Development Environment – SSH, HDMI Output- Tradeoff – Less ideal for real-time system
II. User Inputa. The WiiMote
- Bluetooth Interface- Well defined python module available
b. The Joystick- Inexpensive- USB Interface- Well defined python module available
III. Sensor Input – Ultrasonic- Used for similar applications in cars (backup sensor)- Cheap- Easy to use
IV. Motor Control- Controlled with PWM from the Pi
The System
B. System OperationI. User in Chair
- Operates chair in same manner as standard electric wheelchair
II. Remote User- Has ability to gain control of the wheelchair while disabling
onboard control- Remote user maintains control of the wheelchair until released- Uses directional pad on remote for forward/backward/left/right
III. Safety- Ultrasonic sensors placed strategically to prevent collisions
The System
Software
• All this plus…
• Major Modules – Contents of each program file
• Connections• Future Plans• Reported Problems
Inside The PDF
?Questions?