Path planning algorithm for a car like robot based on Coronoi Diagram Method

The purpose of this study is to develop an efficient offline path planning algorithm that is capable of finding optimal collision-free paths from a starting point to a goal point. The algorithm is based on Voronoi diagram method for the environment representation combined with Dijkstra’s algorithm to find the shortest path. Since Voronoi diagram path exhibits sharp corners and redundant turns, path tracking was applied considering the robot’s kinematic constraints. The results has shown that the Voronoi diagram path planning method recorded fast computational time as it provides simpler, faster and efficient path finding. The final path, after considering robot’s kinematic constraints, provides shorter path length and smoother compared to the original one. The final path can be tuned to the desired path by tuning the parameter setting; velocity, v and minimum turning radius, Rmin. In comparison with the Cell Decomposition method, it shows that Voronoi diagram has a faster computation time. This leads to the reduced cost in terms of time. The findings of this research have shown that Voronoi Diagram and Dijkstra’s Algorithm are a good combination in the path planning problem in terms of finding a safe and shortest path

Electric Wheelchair Controlled by Joystick and Android/iOS Smartphone

A wheelchair is used by people who are difficult to walk because of having physical problems, injuries, or disabilities. There are many options and different types of wheelchairs such as manual wheelchairs, electric wheelchairs, and scooters depending on the patient's financial ability, physical limits, and strength. Not all people with movement disabilities have enough strength especially elders. Moreover, there is no wheelchair controlled by smartphones currently available in the market and even custom-made electric wheelchairs are very expensive. Therefore, the main objective of this project is to provide a solution to this matter by modifying an existing manual wheelchair that would use smartphones (android/iOS) and joystick to control its movement. So, the rationale of this project is it can help patients with movement difficulty to move easily with significantly at a lower cost. Implementation of this project will be using System Development (SDLC) Life Cycle methodology that divide the complex task into several phases of development. This project will be divided into two parts, namely the implementation of hardware and software. The main hardware of this system consists of Arduino microcontrollers and motors that can be controlled using a smartphone via Bluetooth module and joystick. Ultrasonic sensors are located on the rear of this wheelchair to detect objects or obstacles and buzz the buzzer so that the person who uses it can be acknowledged when there are objects behind during reverse movement. The software part will consist of Arduino programming using Arduino Integrated Development Environment (IDE) software and mobile apps programming using Massachusetts Institute of Technology (MIT) App Inventor software. In the end, the implementation of this project can be used in universities, companies, hospitals, and at home as well to facilitate someone's movement without having to rely too much on help from others. In conclusion, this project is expected can help the disability and elder to move freely and control the electric wheelchair by themselves independently