Performance Analysis of Nature-Inspired Algorithms for PID Control of Electric Wheelchairs
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Date
2024-12-31
Authors
Zennir Youcef
Journal Title
Journal ISSN
Volume Title
Publisher
International Journal of Automation and Safety (2024) Vol2, N° 02.p-p 14-19
Abstract
This study presents the development and optimization of an electric wheelchair
designed to improve the mobility and independence of users with disabilities. The
system integrates mechanical modeling using SOLIDWORKS, kinematic simulation in
SIMULINK, and advanced control strategies employing nature-inspired
metaheuristic algorithms. A model-free co-simulation approach between
SOLIDWORKS and SIMULINK enables realistic and adaptable system simulations
without relying on predefined mathematical models. Key algorithms, including
Particle Swarm Optimization (PSO), Whale Optimization Algorithm (WOA), and
Dragonfly Algorithm (DA), are utilized to tune PID controllers for optimal trajectory
tracking and system responsiveness. Simulation tests in Coppeliasim demonstrate
the wheelchair’s capability for precise navigation, and safety enhancement. The
Whale Optimization Algorithm (WOA) showcased superior performance in achieving
smoother and more accurate trajectory tracking. This research highlights the
potential of combining simulation tools and metaheuristic optimization techniques
to enhance the usability and functionality of intelligent wheelchairs, offering a
practical solution to improve the quality of life for individuals with limited mobility.