DESAIN SISTEM KURSI RODA CERDAS MENGGUNAKAN PENDEKATAN MODEL FUNGSIONAL DAN MODEL TINGKAH LAKU DAN PERANCANGAN PERILAKU OBSTACLE AVOIDANCE

Abstract

While the needs of many individuals with disabilities can be satisfied with power wheelchairs, some members of the disabled community find it difficult or impossible to operate a standard power wheelchair. To accommodate this population, several researchers have used technologies originally developed for mobile robots to create “smart wheelchairs” that reduce the physical, perceptual, and cognitive skills necessary to operate a standard wheelchair. The aim of this final project is to implement a control system in a smart wheelchair so that can be controlled by using joystick and can avoid the obstacle and can go to the object without avoiding them. Control system design of this smart wheelchair using a functional model approach and behavior model. Functional model shows the features of smart wheelchairs. While behavioral models show behavior of smart wheelchair. Smart wheelchair used ultrasonic censor to detect any obstacle in around wheelchair, and used current censor to detect if there any collision. From the experiment result, we can get a conclusion that the correctness of the ultrasonic censor have an effect on to detection of obstacle in front of the wheelchair. Smart wheelchair can be controlled by using joystick, wheelchair movement as according to change of value at joystick. Smart wheelchair can detect obstacles and can move to avoid obstacles and can approach the object that want to be approached by passengers. Smart wheelchair can detect if there any collision with an object, then escaping from it by moving backward. Key words : Smart Wheelchair, functional model, behavior model, Joystick, Ultrasonic Censor