Design and Implementation of an Eye-Controlled Self-Driving Wheelchair

Design and Implementation of an Eye-Controlled Self-Driving Wheelchair

Hatem Al-Doais*, Farouk A. K. Al-Fuhaidy*, Ahmed T. Al-Oqabi**, Esmail A. Qasabah**, Ahmed A. Zabarah**.

*Ibb Univ, **Sanaa University

The purpose of this paper is to develop a mechatronic system, the Eye-Controlled Self-Driving Wheelchair (ECSDW), that can help paralyzed, handicapped or any peoples who have an injury in their upper part of the body to be easily and successfully navigate autonomously from one position to another within indoor environments while avoiding obstacles dynamically. This research aims to present a unique approach which can be achieved inexpensively and has the eye-controlled additional property with robust autonomous assistive navigation when compared to a commercial existing wheelchair. The proposed ECSDW system platform is capable of localization and mapping, as well as robust obstacle avoidance, using only a commodity RGB-D sensor and wheel odometry. The development of the proposed ECSDW system was firstly carried by simulating the navigation of the wheelchair using Gazebo and Rviz running in ROS. Secondly, the hardware was assembled and built and the ROS nodes were implemented using Python programming language. Finally, the GUI was designed and implemented for a custom map so that, the disabled user can stare to a specific location using the GUI, with the help of eye-tracker sensor, which accepts directed eye signals and direct the wheelchair to navigate to the desired position autonomously.

Keywords: Eye-Tracking,Self-Driving,Odomtry,ROS, Gazebo, SLAM, Qt .

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How to cite this article:
Hatem Al-Doais, Farouk A. K. Al-Fuhaidy, Ahmed T. Al-Oqabi, Esmail A. Qasabah, Ahmed A. Zabarah.Design and Implementation of an Eye-Controlled Self-Driving Wheelchair . American Journal of Scientific Research and Essays, 2021 6:3.

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