Resumen:
The study proposes optimizing displacements through the implementation of a collaborative omnidirectional system applied to the mobility of individuals using wheelchairs. For the application, an artificial vision system is used with two cameras that obtain an estimation of the movement direction. With eye tracking, the trajectory is defined, and the speed for each Mecanum wheel is calculated. Algorithms were developed in two programming languages: Python, which obtains the images, filters the eye tracking, and estimates the movement direction; and C++, which processes the trajectory and controls the motors using a specific mathematical system algorithm, calculating speeds and emergency stops in case of possible collisions with the help of eight ultrasonic sensors located in each direction of movement. The assistance robot provides users with greater autonomy and freedom of movement, with the ability to navigate in all directions, reducing maneuvering space by at least 30% compared to a conventional wheelchair.
