This project enables quadriplegic patients to navigate a wheelchair by using only their head movement. A prototype of the functionality is implemented and demonstrated using a Raspberry Pi 3 Model B and a Rover 5. The current commands the patient can give are moving forward, moving backward, turning left, and turning right. The Rover is also equipped with an ultrasonic sensor which acts as a safety mechanism that stops the Rover and triggers a buzzer in case an obstacle is detected. For this prototype the user can control the rover by sitting infront of the PC and moving their head to control the Rover while viewing the camera feed the Rover is sending to the PC. Also, a sign was added to activate the steering process. This sign is blinking twice fast in 2 seconds.
The video_pub_py node is running on the PC and computates the action that the user wants to execute and sends this command to n__motor_run_py which is running on the rover.
The n__ultrasonic_py node is running on the Rover and publishes to the motor node and the buzzer node.
The n__rover_pub_py node sends the video frames from the Rover to the PC rover_frames.