การพัฒนารถเข็นคนพิการเคลื่อนที่อัตโนมัติ

Abstract

Today, wheelchairs are a necessary medical device for people with disabilities who cannot move the lower half of their organs. To help promote this group of people with disabilities who need to work can work on a variety of tasks and reduce work constraints. This study is a development of an autonomous wheelchair developed on the Robot Operating System (ROS) based on the RTAB Map and Navigation Stack, a standard package on the ROS. The main equipment of the system consists of a mini-PC and microcontroller are processors, brushless DC motor, motor driver, depth camera, tracking camera to collect point cloud data and track the position of the autonomous wheelchair, and lidar to help measure the distance between obstacles. This study was tested using a self-made autonomous wheelchair developed based on a differential drive robot and supported a maximum of mass 100 kilograms and a maximum of speed 6 kilometers per hour. The results showed that an autonomous wheelchair was able to localize itself on a map created with RTAB Map and was able to move to the target with obstacle avoidance as needed.