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Computational Intelligence and Neuroscience
Volume 2016, Article ID 7189267, 20 pages
Research Article

A Driving Behaviour Model of Electrical Wheelchair Users

1F’SATI, Tshwane University of Technology, Private Bag Box X680, Staatsartillerie Road, Pretoria West, Pretoria 0001, South Africa
2Laboratoire d’Informatique Avancée de Saint de Denis (LIASD), University of Paris 8, France

Received 24 November 2015; Revised 9 March 2016; Accepted 20 March 2016

Academic Editor: Jianjun Ni

Copyright © 2016 S. O. Onyango et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In spite of the presence of powered wheelchairs, some of the users still experience steering challenges and manoeuvring difficulties that limit their capacity of navigating effectively. For such users, steering support and assistive systems may be very necessary. To appreciate the assistance, there is need that the assistive control is adaptable to the user’s steering behaviour. This paper contributes to wheelchair steering improvement by modelling the steering behaviour of powered wheelchair users, for integration into the control system. More precisely, the modelling is based on the improved Directed Potential Field (DPF) method for trajectory planning. The method has facilitated the formulation of a simple behaviour model that is also linear in parameters. To obtain the steering data for parameter identification, seven individuals participated in driving the wheelchair in different virtual worlds on the augmented platform. The obtained data facilitated the estimation of user parameters, using the ordinary least square method, with satisfactory regression analysis results.