Journal of the Institute of Electronics and Information Engineers (전자공학회논문지)

The Institute of Electronics and Information Engineers (대한전자공학회)
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Development of Smart Wheelchair System and Navigation Technology For Stable Driving Performance In Indoor-Outdoor Environments

실내외 환경에서 안정적인 자율 주행을 위한 스마트 휠체어 시스템 및 주행 기술 개발

  • Lee, Lae-Kyoung (Dept. of Electronic and Electrical Engineering, Pohang University of Science and Technology) ;
  • Oh, Se-Young (Dept. of Electronic and Electrical Engineering, Pohang University of Science and Technology)
  • 이래경 (포항공과대학교 전자전기공학과) ;
  • 오세영 (포항공과대학교 전자전기공학과)
  • Received : 2015.01.27
  • Accepted : 2015.07.02
  • Published : 2015.07.25
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Abstract

In the present study, as part of the technology development (Quality of Life Technology, QoLT) to improve the socio-economic status of people with disabilities as an extension of these studies, we propose the development of the smart wheelchair system and navigation technology for stable and safe driving in various environments. For the disabled and the elderly make driving easy and convenient with manual/autonomous driving condition, we firstly develop the user-oriented smart wheelchair system with optimized sensors for environment recognition, and then we propose a navigation framework of a hierarchical structure to ensure real-time response, as well as driving stability when traveling to various environmental changes, and to enable a more efficient operation. From the result of several independent experiments, we ensure efficiency and safety of smart wheelchair and its navigation system.

본 논문에서는 사회적 약자(노약자, 장애인 등)들의 사회 경제적 삶의 질 향상을 위한 기술개발(Quality of Life Technology, QoLT)의 일환으로, 다양한 실내외 환경에 대해서 안정적이고 안전한 주행이 가능한 스마트 휠체어 시스템을 개발하고, 이를 효과적으로 운영하기 위한 주행 프레임워크를 제안한다. 특히, 휠체어 탑승자(장애인, 노약자)의 인지/조작능력 부족에 따른 자동/수동 주행 시 편의성과 안전성을 보장하기 위해, 먼저 환경에 최적화된 센서들을 기반으로 사용자 중심의 스마트 휠체어 시스템을 개발하고, 다양한 주행 환경의 변화에 실시간 대응은 물론, 탑승시 안정성을 보장하기 위한 계층적 구조의 주행 프레임워크를 제안, 적용함으로써 보다 효과적인 운영이 가능하도록 하였다. 제안된 방법들에 대한 다양한 실험들을 통해 개발된 스마트 휠체어 시스템과 주행 시스템에 대한 안전성은 물론 효율성을 증명, 확인할 수 있었다.

Keywords

References

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