Joseph D’Amato Husein Rashed Steven Ostertag Rohan Vivek T.S. Rockwell.

Joseph D’Amato

Husein Rashed

Steven Ostertag

Rohan Vivek

T.S. Rockwell

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 Input

a. 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?