| Summary: | 碩士 === 長庚大學 === 機械工程研究所 === 90 === This paper proposes an intelligent agent-based autonomous robotic wheelchair control system to assist the disabled patients. Our goal is to design a virtual healthcare skill (e-care) system, and it is embedded in the robotic wheelchair control system to monitor the status of the patient and to guide electrical wheelchair. In addition, they can be cooperated and communicated through the wireless network. Hence, the e-care system can execute partial works of the practical healthcare skills. The proposed e-care system is composed of three major functions: the mobility assistance; navigation; and physiological signal collection and recognition. We use the A* based path planning and the fuzzy logic based motion control and local obstacle avoidance approaches to ensure the mobility safety and comfort. The proposed system can be used in the hospitals and hospices to reduce the effort of care and to increase the mobility safeties of disabled patients. Finally, a prototype of the agent-based autonomous robotic wheelchair (CGU-RW-I) is developed based upon the proposed control architecture, and the implementation procedures and results are all indicated and evaluated in this paper.
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