Almost Sure Front Collision Prevention Control for An Electric Wheelchair via Stochastic Safety-critical Control Theory

Recently, electric wheelchairs have become widely used worldwide as a valuable means of transportation for elderly and physically disabled individuals. However, their safety can be threatened by user misoperations and irregular disturbances. To compensate for irregular disturbances added into an electric wheelchair, this study designs a human-assist control law using the almost sure zeroing control barrier function (AS-ZCBF) method. The validity of the proposed controller is demonstrated by experimental results.