PEMETAAN POSISI DAN ORIENTASI KURSI RODA CERDAS BERBASIS PRINSIP DEAD RECKONING
ABSTRACT: Smart wheelchairs is
a kind of assistive technology implementation from mobile robot field. The main
purpose of the system is enhance disable people mobility and guaranteeing
safety aspect while wheelchair navigate around domestic environment. As a kind
of semi autonomous smart navigation system, the smart wheelchair must be
accommodate share control between automatic controller and the user (via joystic).
The ultimate goal of this research is to know exactly the position and
orientation of smart wheelchair using dead reckoning principle. To fulfill the
goal, the smart wheelchair is equipt by quadrature rotary encoder for each
wheels.From the experiments that we drawn, we have get some result: Position
and orientation error will be larger for long duration of operation of
wheelchairs. Fundamentally, these kinds of error result from systematic and non
systematic error source.
Penulis: IWAN SETIAWAN, ISNAN
FAUZAN AKROM, DARJAT
Kode Jurnal: jptlisetrodd090096
