Authors : Mauricio Plaza Torres and Fredy David Bernal Castillo
Abstract: Nowadays there are many engineering applications in the medical field, including pathology diagnostic systems, magnetic resonance imaging, physiological signal monitoring system, upper and lower limb prostheses and orthoses, all these developments aim to improve the quality of life of the human beings. The present document shows the development of an artificial intelligence genetic algorithm through which the trajectories of a smart wheelchair in a known environment are planned, to transfer a patient with upper and lower limb mobility problems or with spinal cord injury. The device assists him in his movement from a starting point to a goal point to which the user wants to arrive. The trajectory generator algorithm was developed in MATLAB Software, in addition to finding the shortest possible route between the two points, implements a safety function that influence in final decision of the trajectory to be performed in order to prevent collisions with obstacles that can be avoided by the wheelchair but possibly have contact with parts of the patient's body that are outside it. With the generation of the recursion algorithm, the processing times for obtaining trajectories were improved for the recursion algorithm the average time taken to find a point of a feasible trajectory is 0.085 sec while for the algorithm without recursion is 0.168 sec.
Mauricio Plaza Torres and Fredy David Bernal Castillo, 2018. Artificial Intelligence Algorithm for Autonomous Movement of a Smart Wheelchair. Research Journal of Applied Sciences, 13: 552-558.