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Use of the Analytical Hierarchy Process to determine the steering direction for a powered-wheelchair

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

The Analytical Hierarchy Process (AHP) is utilized to propose a driving course for a powered-wheelchair. A safe route for a wheelchair is proposed by a decision-making system that aims to avoid obstacles. Two ultrasonic transceivers are fitted onto a wheelchair. The area in front of a wheelchair is segmented to left and right zones. The system inputs are distance to an object from the midpoint of the chair, distance to an object from the left of the chair and distance to an object from the right of the chair. The resulting route is a blend between a provided direction from a user’s input device and a proposed direction from the decision-making system that steers a powered-wheelchair to safely avoid obstacles in the way of the wheelchair. The system helps a disabled user to navigate their wheelchair by deciding on a direction that is a compromise between a direction provided by the sensors and a direction desired by the driver. Sensitivity analysis investigates the effects of risk and uncertainty on the resulting directions. An appropriate direction is identified but a human driver can over-ride the decision if necessary.
Original languageEnglish
Title of host publicationIntelligent Systems and Applications
Subtitle of host publicationProceedings of the 2020 Intelligent Systems Conference (IntelliSys) Volume 3
EditorsKohei Arai, Supriya Kapoor, Rahul Bhatia
ISBN (Electronic)978-3-030-55190-2
ISBN (Print)978-3-030-55189-6
Publication statusPublished - 25 Aug 2020
EventIntelligent Systems Conference - London, United Kingdom
Duration: 3 Sep 20204 Sep 2020

Publication series

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


ConferenceIntelligent Systems Conference
Abbreviated titleIntelliSys 2020
CountryUnited Kingdom


  • Use of the Analytical Hierarchy Process to Determine the Steering Direction for a Powered Wheelchair

    Rights statement: This is a post-peer-review, pre-copyedit version of an article published in Advances in Intelligent Systems and Computing. The final authenticated version is available online at:

    Accepted author manuscript (Post-print), 1.01 MB, PDF document

    Due to publisher’s copyright restrictions, this document is not freely available to download from this website until: 25/08/21

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ID: 19278354