{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,31]],"date-time":"2025-12-31T11:55:07Z","timestamp":1767182107834,"version":"build-2065373602"},"reference-count":45,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2022,9,21]],"date-time":"2022-09-21T00:00:00Z","timestamp":1663718400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Future University in Egypt"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The daily lifestyle of an average human has changed drastically. Robotics and AI systems are applied to many fields, including the medical field. An autonomous wheelchair that improves the degree of independence that a wheelchair user has can be a very useful contribution to society. This paper presents the design and implementation of an autonomous wheelchair that uses LIDAR to navigate and perform SLAM. It uses the ROS framework and allows the user to choose a goal position through a touchscreen or using deep learning-based voice recognition. It also presents a practical implementation of system identification and optimization of PID control gains, which are applied to the autonomous wheelchair robot. Input\/output data were collected using Arduino, consisting of linear and angular speeds and wheel PWM signal commands, and several black-box models were developed to simulate the actual wheelchair setup. The best-identified model was the NLARX model, which had the highest square error (0.1259) among the other candidate models. In addition, using MATLAB, Optimal PID gains were obtained from the genetic algorithm. Performance on real hardware was evaluated and compared to the identified model response. The two responses were identical, except for some of the noise due to the encoder measurement errors and wheelchair vibration.<\/jats:p>","DOI":"10.3390\/robotics11050101","type":"journal-article","created":{"date-parts":[[2022,9,22]],"date-time":"2022-09-22T23:07:55Z","timestamp":1663888075000},"page":"101","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A New Design Identification and Control Based on GA Optimization for An Autonomous Wheelchair"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3993-2265","authenticated-orcid":false,"given":"Mohamed A.","family":"Shamseldin","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"given":"Eissa","family":"Khaled","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"given":"Abdelrahman","family":"Youssef","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"given":"Diaaeldin","family":"Mohamed","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"given":"Shady","family":"Ahmed","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1103-6060","authenticated-orcid":false,"given":"Abdallah","family":"Hesham","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"given":"Amira","family":"Elkodama","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2487-8646","authenticated-orcid":false,"given":"Mohamed","family":"Badran","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering and Technology, Future University in Egypt, New Cairo 11835, Egypt"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,21]]},"reference":[{"key":"ref_1","first-page":"95","article-title":"Empowerment of mosque community with ultraviolet light sterilisator robot","volume":"1","author":"Raharja","year":"2021","journal-title":"J. Pengabdi. Dan Pemberdaya. Masy."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"19","DOI":"10.5772\/7254","article-title":"An autonomous mobile robotic system for surveillance of indoor environments","volume":"7","author":"Paola","year":"2010","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_3","first-page":"126","article-title":"Autonomous mobile robots designing","volume":"2","author":"Murthy","year":"2011","journal-title":"J. Glob. Res. Comput. Sci."},{"key":"ref_4","first-page":"3711","article-title":"Intelligent Robotics Navigation System: Problems, Methods, and Algorithm","volume":"7","author":"Nurmaini","year":"2017","journal-title":"Int. J. Electr. Comput. Eng."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"602","DOI":"10.1109\/JAS.2017.7510604","article-title":"A Survey of Human-centered Intelligent Robots: Issues and Challenges","volume":"4","author":"He","year":"2017","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"3022","DOI":"10.11591\/ijece.v10i3.pp3022-3034","article-title":"Efficient and secure real-time mobile robots cooperation using visual servoing","volume":"10","author":"Boudra","year":"2019","journal-title":"Int. J. Electr. Comput. Eng. (IJECE)"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"3517","DOI":"10.11591\/ijece.v12i4.pp3517-3529","article-title":"A review of multi-agent mobile robot systems applications","volume":"12","author":"Rasheed","year":"2022","journal-title":"Int. J. Electr. Comput. Eng. (IJECE)"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1016\/j.patrec.2022.06.005","article-title":"Collision avoidance approaches for autonomous mobile robots to tackle the problem of pedestrians roaming on campus road","volume":"160","author":"Manikandan","year":"2022","journal-title":"Pattern Recognit. Lett."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"39830","DOI":"10.1109\/ACCESS.2020.2975643","article-title":"A Review on Challenges of Autonomous Mobile Robot and Sensor Fusion Methods","volume":"8","author":"Alatise","year":"2020","journal-title":"IEEE Access"},{"key":"ref_10","first-page":"1514","article-title":"Stereo vision-based obstacle avoidance module on 3D point cloud data","volume":"18","author":"Wahyono","year":"2020","journal-title":"Telecommun. Comput. Electron. Control."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"182","DOI":"10.11591\/ijra.v5i3.pp182-189","article-title":"Local path planning of mobile robot using critical-point bug algorithm avoiding static obstacles","volume":"5","author":"DAS","year":"2016","journal-title":"IAES Int. J. Robot. Autom. (IJRA)"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Hayet, T., and Jilani, K. (2016, January 6\u20138). A navigation model for a multi-robot system based on client\/server model. Proceedings of the International Conference on Control, Decision and Information Technologies 2016, Saint Julian\u2019s, Malta.","DOI":"10.1109\/CoDIT.2016.7593638"},{"key":"ref_13","first-page":"500","article-title":"Developing a real time navigation for the mobile robots at unknown environments","volume":"20","author":"Abdulredah","year":"2020","journal-title":"Indones. J. Electr. Eng. Comput. Sci. (IJEECS)"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"152","DOI":"10.1016\/j.jmsy.2019.12.002","article-title":"Automated guided vehicle systems, state-of-the-art control algorithms and techniques","volume":"54","author":"Ryc","year":"2020","journal-title":"J. Manuf. Syst."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.ejor.2005.01.036","article-title":"A review of design and control of automated guided vehicle systems","volume":"171","author":"Koster","year":"2006","journal-title":"Eur. J. Oper. Res."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"27","DOI":"10.5772\/59992","article-title":"Algorithms and a Framework for Indoor Robot Mapping in a Noisy Environment Using Clustering in Spatial and Hough Domains","volume":"12","author":"Ravankar","year":"2015","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"98","DOI":"10.5772\/63540","article-title":"On a Hopping-Points SVD and Hough Transform-Based Line Detection Algorithm for Robot Localization and Mapping","volume":"13","author":"Ravankar","year":"2016","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_18","unstructured":"(2022, June 06). MathWorks 2022. Available online: https:\/\/www.mathworks.com\/discovery\/slam.html."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"K\u00f6seo\u011flu, M., \u00c7elik, O.M., and Pekta\u015f, \u00d6. (2017, January 16\u201317). Design of an autonomous mobile robot based on ROS. Proceedings of the International Artificial Intelligence and Data Processing Symposium (IDAP), Malatya, Turkey.","DOI":"10.1109\/IDAP.2017.8090199"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1023\/A:1015664517164","article-title":"A Genetic Algorithm for Mobile Robot Localization Using Ultrasonic Sensors","volume":"34","author":"Moreno","year":"2002","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1052","DOI":"10.1109\/TPAMI.2007.1049","article-title":"MonoSLAM: Real-Time Single Camera SLAM","volume":"29","author":"Davison","year":"2007","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"6148","DOI":"10.1109\/LRA.2021.3090660","article-title":"OF-VO: Efficient Navigation Among Pedestrians Using Commodity Sensors","volume":"6","author":"Liang","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"2164","DOI":"10.11591\/ijece.v10i2.pp2164-2172","article-title":"Obstacle detection for autonomous systems using stereoscopic images and bacterial behaviour","volume":"10","author":"Jacinto","year":"2020","journal-title":"Int. J. Electr. Comput. Eng. (IJECE)"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Wang, Y.-T., Peng, C.-C., Ravankar, A.A., and Ravankar, A. (2018). A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm. Sensors, 18.","DOI":"10.3390\/s18041294"},{"key":"ref_25","unstructured":"Engelhard, N., Endres, F., Hess, J., Sturm, J., and Burgard, W. (2021, January 13\u201315). Real-Time 3d Visual Slam with a Hand-Held Camera. Proceedings of the RGB-D Workshop on 3D Perception in Robotics at the European Robotics Forum, Vasteras, Sweden."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1109\/70.75902","article-title":"Blanche-an experiment in guidance and navigation of an autonomous robot vehicle","volume":"7","author":"Cox","year":"1991","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Fankhauser, P., Bloesch, M., Rodriguez, D., Kaestner, R., Hutter, M., and Siegwart, R. (2015, January 27\u201331). Kinect v2 for Mobile Robot Navigation: Evaluation and Modeling. Proceedings of the International Conference on Advanced Robotics (ICAR), Istanbul, Turkey.","DOI":"10.1109\/ICAR.2015.7251485"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"316","DOI":"10.1007\/s11771-004-0065-7","article-title":"Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg","volume":"11","author":"Tan","year":"2004","journal-title":"J. Cent. South Univ. Technol."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1313","DOI":"10.4028\/www.scientific.net\/AMR.931-932.1313","article-title":"Smart Wheelchair Stair Lift Using RFID Detection Method and Fuzzy-PI with PLC Ladder Control","volume":"931","author":"Kantawong","year":"2014","journal-title":"Adv. Mater. Res."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Zhao, B., Wang, H., Li, Q., Li, J., and Zhao, Y. (2019, January 3\u20135). PID Trajectory Tracking Control of Autonomous Ground Vehicle Based on Genetic Algorithm. Proceedings of the Chinese Control and Decision Conference (CCDC), Nanchang, China.","DOI":"10.1109\/CCDC.2019.8832531"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"9548482","DOI":"10.1155\/2016\/9548482","article-title":"Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation","volume":"2016","author":"Omrane","year":"2016","journal-title":"Comput. Intell. Neurosci."},{"key":"ref_32","first-page":"65","article-title":"MIMO Fuzzy Control for Autonomous Mobile Robot","volume":"4","author":"Mac","year":"2016","journal-title":"J. Autom. Control. Eng."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"931","DOI":"10.18178\/ijmerr.9.7.931-936","article-title":"Design, Manufacture, and Test a ROS Operated Smart Obstacle Avoidance Wheelchair","volume":"9","author":"Elkodama","year":"2020","journal-title":"Int. J. Mech. Eng. Robot. Res."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"52","DOI":"10.1145\/504729.504754","article-title":"Probabilistic robotics","volume":"45","author":"Thrun","year":"2002","journal-title":"Commun. ACM"},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Hajiyev, C., Soken, H., and Vura, S. (2015). State Estimation and Control for Low-Cost Unmanned Aerial Vehicles, Springer.","DOI":"10.1007\/978-3-319-16417-5"},{"key":"ref_36","first-page":"206","article-title":"Optimal path planning for mobile robot using tailored genetic algorithm","volume":"12","author":"Liu","year":"2014","journal-title":"Indones. J. Electr. Eng."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"206","DOI":"10.11591\/eei.v8i1.1437","article-title":"A genetic algorithm based task scheduling system for logistics service robots","volume":"8","author":"Harun","year":"2019","journal-title":"Bull. Electr. Eng. Inform. (BEEI)"},{"key":"ref_38","first-page":"1","article-title":"An Efficient Single Neuron PID\u2014Sliding Mode Tracking Control for Simple Electric Vehicle Model","volume":"11","author":"Shamseldin","year":"2022","journal-title":"J. Appl. Nonlinear Dyn."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"187","DOI":"10.3390\/robotics2040187","article-title":"Robust bio-signal based control of an intelligent wheelchair","volume":"2","author":"Xu","year":"2013","journal-title":"Robotics"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"217","DOI":"10.37394\/23202.2021.20.24","article-title":"Optimal COVID-19 Based PD\/PID Cascaded Tracking Control for Robot Arm Driven by BLDC Motor","volume":"20","author":"Shamseldin","year":"2021","journal-title":"WSEAS Trans. Syst."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Copot, C., Muresan, C., Ionescu, C.M., Vanlanduit, S., and de Keyser, R. (2018). Calibration of UR10 robot controller through simple auto-tuning approach. Robotics, 7.","DOI":"10.3390\/robotics7030035"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"Guarde\u00f1o, R., L\u00f3pez, M.J., and S\u00e1nchez, V.M. (2019). MIMO PID controller tuning method for quadrotor based on LQR\/LQG theory. Robotics, 8.","DOI":"10.20944\/preprints201901.0010.v1"},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Carpio, M., Saltaren, R., Viola, J., Garc\u00eda, C., Guerra, J., Cely, J., and Calder\u00f3n, C. (2021). A simulation study of a planar cable-driven parallel robot to transport supplies for patients with contagious diseases in health care centers. Robotics, 10.","DOI":"10.3390\/robotics10040111"},{"key":"ref_44","doi-asserted-by":"crossref","unstructured":"Shamseldin, M.A. (2021). Optimal Coronavirus Optimization Algorithm Based PID Controller for High Performance Brushless DC Motor. Algorithms Artic., 14.","DOI":"10.3390\/a14070193"},{"key":"ref_45","doi-asserted-by":"crossref","first-page":"716","DOI":"10.1109\/TSMCC.2008.923890","article-title":"PID control using presearched genetic algorithms for a MIMO system","volume":"38","author":"Juang","year":"2008","journal-title":"IEEE Trans. Syst. Man Cybern. Part C Appl. Rev."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/5\/101\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:36:44Z","timestamp":1760143004000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/5\/101"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,21]]},"references-count":45,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,10]]}},"alternative-id":["robotics11050101"],"URL":"https:\/\/doi.org\/10.3390\/robotics11050101","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2022,9,21]]}}}