| Opis: | The article describes the operation of a module for the protection of movement of a voicc-operated intelligent wheelchair (VOIC). The VOIC is used by a handicapped person, who can guide the wheelchair only with his/her voice. A general overview of the tasks of individual modules of the VOIC system, from the voice command recognition to the execution of commands, is given. A security module (SM), which is based on fuzzy logic, is described. Based on the sensor data, the SM controls the safe guidance of the wheelchair through the environment by stopping the wheelchair at a safedistance from obstacles. The additional task of the SM is to avoid obstacles and to automatically guide the wheelchair through narrow passages, which relieves the user of the difficult voice guidance. The realization of the SM prototype, executed in the 2-D simulator of mobile robots MobotSim, using Visual Basic programming language, is described. The adequacy of choosing fuzzy logic for this application is supported with simulation data. |
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