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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic


eISSN: 1178-5608



VOLUME 7 , ISSUE 4 (December 2014) > List of articles


Malek Njah * / Mohamed Jallouli *

Keywords : electric wheelchair, encoder, ultrasonic sensors, particle filter, power module, microcontroller, CB405, PIC16F877.

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 7, Issue 4, Pages 1,922-1,942, DOI:

License : (CC BY-NC-ND 4.0)

Received Date : 15-June-2014 / Accepted: 06-October-2014 / Published Online: 01-December-2014



The electric wheelchair for handicapped is used to improve the displacement of disabled persons. An automatic navigation system is needed to ensure greater autonomy and security for the disabled person. Automatic control system is added to a manual control for autonomous displacement. Initial system composed of two DC motors installed at the rear of used electric wheelchair, power module for the motors control and joystick to select speed and moving direction. We include an automatic control system composed by two electronic cards, based on microcontrollers CB405 and PIC16F877 for the signal acquisition from the encoders and distance measurements from ultrasonic sensors (SRF08 and SRF04). The ultrasonic sensors used to improve the localization when we use an automatic control system. Several techniques exist for sensors fusion solves the problems of mobile robots localization. Among these methods, we can quote the particle filter that use data from the encoders and measures from the ultrasonic sensors.

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[22] Manual of using power module type dynamic control, shark DK-PMB.
Download from:
[23] Manual of using the joystick of type shark DK – REMB.
Download from:
[24] Manual of using the ultrasonic sensors SRF04.
Download from: Devantech_SRF04.pdf
[25] Manual of using the ultrasonic sensors SRF08.
Download from: