Design and simulation of AVDs (autonomous vehicles for disabled) - preliminary study

The objective of this paper is to study the design characteristics more viable to build an autonomous vehicle for disabled people (AVD). In this paper, some components are examined for available options and how these options effect the performance of the vehicle. Besides, the dynamic model of a tricycle configuration of AVD is shown. The equations of motion governing the behavior of the vehicle are obtained with the Newton and Euler's equations. Through the dynamic equations, the analyses of dynamic stability and dirigibility for the configuration are made and compared with other configurations with different kinds of driving and steering. Considering the results of stability and dirigibility, a fuzzy controller for navigation and obstacle avoidance control is design. The fuzzy controller was simulated and the results indicate that it is better use the velocity control only on final approach to goal position.