International Journal of Electrical and Computer Engineering (IJECE) Vol. 13, No. 6, December 2023, pp. 6764~6777 ISSN: 2088-8708, DOI: 10.11591/ijece.v13i6.pp6764-6777  6764 Journal homepage: http://ijece.iaescore.com Autonomous open-source electric wheelchair platform with internet-of-things and proportional-integral-derivative control Dechrit Maneetham 1 , Padma Nyoman Crisnapati 1 , Yamin Thwe 2 1 Department of Mechatronics Engineering, Rajamangala University of Technology Thanyaburi, Pathum Thani, Thailand 2 Department of Data and Information Science, Rajamangala University of Technology Thanyaburi, Pathum Thani, Thailand Article Info ABSTRACT Article history: Received Apr 21, 2023 Revised Jul 6, 2023 Accepted Jul 9, 2023 This study aims to improve the working model of autonomous wheelchair navigation for disabled patients using the internet of things (IoT). A proportional-integral-derivative (PID) control algorithm is applied to the autonomous wheelchair to control movement based on position coordinates and orientation provided by the global positioning system (GPS) and digital compass sensor. This system is controlled through the IoT system, which can be operated from a web browser. Autonomous wheelchairs are handled using a waypoint algorithm; ESP8266 is used as a microcontroller unit that acts as a bridge for transmitting data obtained by sensors and controlling the direct current (DC) motors as actuators. The proposed system and the autonomous wheelchair performance gave satisfactory results with a longitude and latitude error of 1.1 meters to 4.5 meters. This error is obtained because of the limitations of GPS with the type of Ublox Neo-M8N. As a starting point for further research, a mathematical model of a wheelchair was created, and pure pursuit control algorithm was used to simulate the movement. An open-source autonomous IoT platform for electric wheelchairs has been successfully created; this platform can help nurses and caretakers. Keywords: Electric powered wheelchair Internet of things Motion control Proportional integral derivative Pure pursuit Unmanned ground wheelchair This is an open access article under the CC BY-SA license. Corresponding Author: Padma Nyoman Crisnapati Department of Mechatronics Engineering, Faculty of Technical Education, Rajamangala University of Technology Thanyaburi 39 Village No. 1 Rangsit-Nakhon Nayok Road, Tambon Khlong Hok, Amphoe Thanyaburi Pathum Thani 12110, Thailand Email: padma_c@mail.rmutt.ac.th 1. INTRODUCTION This study aims to provide mobility for patients with problems such as spinal cord injuries or neurological problems who cannot use electric powered wheelchairs (EPW) [1], [2]. Intelligence EPWs can move autonomously to the destination point without requiring much human assistance. Intelligence EPW is very helpful for patients with disabilities in carrying out mobility independently [3]. This research is essential because electric wheelchairs are still a daily necessity for patients with disabilities; this is supported by the increasing number of patients, causing hospitals not to provide adequate care to patients [4]. Developing intelligent EPWs is an alternative option that will reduce nurses ’ workload and help patients in the future. The proposed design of autonomous wheelchairs is to provide integration of the internet of things (IoT) and human machine interface (HMI) to enhance the mobility or movement of autonomous wheelchairs [5]. The wheelchair can be controlled to move in four directions and stop. The HMI system is designed to be easy to use. Several previous studies regarding smart wheelchairs have been carried out by combining electro-mechanical systems, sound sensors, gyro, accelerometer, compass, and