Combining multiple criteria decision making with vector manipulation to decide on the direction for a powered wheelchair

Malik Jamal Musa Haddad, David Sanders, Alexander Gegov, Mohamed Hassan Sayed, Ya Huang, Mo Al-Mosawi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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The application of the Weighed Aggregated Sum Product ASsessment (WASPAS) method to suggest a direction for a powered wheelchair is described. The method considers five directions as alternatives. The ultrasonic sensors readings are used as criteria weights. The overall score of the alternatives is converted to vector magnitudes and the directions of the alternatives are considered as vector angles. The suggested direction is represented as a resultant vector formed from the vector manipulation of the vectors magnitudes and angles. The suggested direction tends to move a powered wheelchair away from obstacles. The entire system supports disabled wheelchair users to maneuver their powered wheelchairs using a decision-making technique. This research presents that technique along with a new method of selecting the best compromised route. Three cases are considered, and a best compromised direction is suggested in each case. The suggestions from WASPAS could be over-ridden by the user through holding a steering joystick in a set position.
Original languageEnglish
Title of host publicationProceedings of SAI Intelligent Systems Conference
Subtitle of host publicationIntelliSys 2019: Intelligent Systems and Applications
EditorsYaxin Bi, Rahul Bhatia, Supriya Kapoor
Number of pages14
ISBN (Electronic)978-3-030-29516-5
ISBN (Print)978-3-030-29515-8
Publication statusPublished - 24 Aug 2019
EventIEEE SAI Intelligent Systems Conference 2019 - London, United Kingdom
Duration: 5 Sept 20196 Sept 2019

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


ConferenceIEEE SAI Intelligent Systems Conference 2019
Abbreviated titleIntelliSys 2019
Country/TerritoryUnited Kingdom
Internet address


  • decision making
  • direction
  • powered wheelchair
  • Weighted Aggregated Sum Product ASsessment (WASPAS)


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