Hedstorm, Bouatake and Autar, Rishi and Vatikani, Veisinia and Sharma, Sushita and Chand, Ronal P. and Kumar, Sandeep A. (2026) Stabilizing Acceleration Controllers for Multiple Planar Wheelchair Robots in Constrained Environment. In: Unmanned Systems. Unmanned systems . World Scientific Publishing, Singapore, pp. 1-17. ISBN 978-9811273315
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Abstract
The integration of robotics into assistive technology is gaining significant attention in research. One area that has seen a dramatic increase in usage is the wheelchair for people with disabilities. This paper introduces a set of novel acceleration-based controllers designed for navigating
multiple planar wheelchair robots in constrained environments. These wheelchair controllers are derived from the total potential constructed using Lyapunov-based Control Scheme (LbCS), which is captured under the classical Artificial Potential Field (APF) method. The effectiveness of the proposed controllers was validated numerically and through computer simulations using Wolfram Mathematica 13.3 software. The results demonstrate that the acceleration-based controllers successfully navigate the wheelchair robots to their final configuration space in complex, constrained environments. They exhibit robust obstacle and collision avoidance and adhere to system restrictions, which are due to the motion control planning via LbCS. The proposed controllers show high adaptability, making them suitable for various assistive and collaborative robotic applications.
| Item Type: | Book Chapter |
|---|---|
| Uncontrolled Keywords: | Assistive technology; wheelchair; motion planning; APF; acceleration-based controllers |
| Subjects: | Q Science > Q Science (General) |
| Divisions: | School of Information Technology, Engineering, Mathematics and Physics (STEMP) |
| Depositing User: | Nirma Narayan |
| Date Deposited: | 17 Feb 2026 03:44 |
| Last Modified: | 17 Feb 2026 03:44 |
| URI: | https://repository.usp.ac.fj/id/eprint/15279 |
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