Knowledge-based expert system using a set of rules to assist a tele-operated mobile robot

This paper firstly reviews five artificial intelligence tools that might be useful in assisting a tele-operator with driving a mobile robot: knowledge-based systems (including rule based systems and case-based reasoning), automatic knowledge acquisition, fuzzy logic, neural networks and genetic algorithms. Rule-based systems were selected to provide simple real time AI techniques to support tele-operated mobile robot operators with steering because they allow tele-operators to be included in the driving as much as possible and to reach their target destination, while providing assistance when needed to avoid an obstacle. The direction to a destination (via point) becomes an extra input along with an obstacle avoidance sensor system and the usual inputs from a joystick. A recommended direction is mixed with joystick position and angle. A rule-based system generates a recommended angle to turn the mobile robot and that is mixed with an input from a joystick in order to assist tele-operators with steering their mobile robots towards their destinations

A rule-based expert system to decide on direction and speed of a powered wheelchair

Some rule based techniques are presented that can assist powered wheelchair drivers. The expert system decides on the direction and speed of their wheelchair. The system tends to avoid obstacles while having a tendency to turn and head in towards a desired destination. This is achieved by producing a new target angle as an extra input. Other inputs are from sensors and a joystick. Directions are recommended and mixed with user inputs from the joystick representing desired direction and desired speed. The rule-based system decides on an angle to turn the powered wheelchair and suggest it. Inputs from the joystick and sensors are mixed with the suggested angle from the Rule Based Expert System. A modified direction for the wheelchair is produced. The whole system helps disabled wheelchair users to drive their powered wheelchairs