Design Kinematics and Speed Control of Autonomous Mobility System Using Intelligent Controller Design Strategies

Independent mobility and freedom is necessary for every individual in this world. Mobility of individuals with disabilities is often limited which can lead to a reduced quality of life. In this context, Smart mobility system is an important concept in this field of technology that can ease the life of such individuals suffering from different kinds of disorders. Smart wheelchairs have been developed to provide independent mobility to individuals with disabilities but their working performance depends mainly on the effectiveness of their kinematics and different controllers for regulating the speed of the system. The objective of this research work is to design and control the motion of autonomous mobility system that is capable of providing independent mobility to individuals suffering from different types of disabilities. This paper proposes the use of three controllers-Proportional Integral Derivative (PID), Fuzzy Logic controller (FLC) and a Particle Swarm Optimization (PSO) optimized PID controller to achieve the desired and precise motion of the system. Mathematical modelling is done by implementing different kinematic equations and the results are verified by using MATLAB software. The proposed controllers are evaluated and compared based on their performance in terms of steady state error, peak overshoot, settling time and rise time.