智能轮椅导航系统研究现状与发展趋势

Status quo and development trend of intelligent wheelchair navigation system

智能轮椅是一种帮助行动不便人群的服务机器人,它是将智能机器人技术应用于电动轮椅,融合了多个领域的研究。智能轮椅的一个重要方向是实现自主导航和有效地避开障碍物,本文探讨了导航系统中所涉及的三方面核心问题。系统定位:在移动机器人的应用中,精确的位置知识是一个基本问题;信息融合技术:结合了控制理论、信号处理、人工智能、概率和统计的发展,为机器人在各种复杂的、动态的、不确定或未知的环境中工作提供了一种技术解决途径;路径规划问题:主要任务是当移动机器人运行在外界环境中,寻求一条从已知起点到已知终点之间的最优路径,即在障碍物空间中能够找到一条最短或最低代价的无碰撞路。本文最后对智能轮椅导航系统发展趋势进行了简要分析。

The intelligent wheelchair is a service robot to help the Mobility crowd, it is the motor-wheelchair that applies the intelligent robot technology, inosculate research in many domains. The important direction of intelligent wheelchair is to realize autonomous navigation and to avoid the obstacle effectively, this article has discussed three core aspects which involved in the guidance system. The system localization： In the mobile robot applications, the precise location of knowledge is a basic problem; the information fusion technology： requires interdisciplinary knowledge in control theory, signal processing, artificial intelligence, probability and statistics, etc. It provides a method technology for robot working in intricate, dynamic, uncertain or unknown environment; the path planning question. The chief task of path planning is： when the Mobile Robot is running under the environmental space, it is usually asked to seek one of optimal path which would link between the known start point and the known end point. That is to say that we at least could find the avoid-colliding path which should be shortest or lowest cost. At last this paper carries on the brief analysis to its trend of development.