智能轮椅室内避障导航及仿真实现

Indoor Navigation and Obstacle Avoidance of Intelligent Wheelchair and Simulation

关于智能轮椅路径识别问题,如何采集外界障碍物信息,以及迅速的做出判断是智能轮椅进行室内避障导航的关键。针对轮椅受路面粗超度,轮胎变形,和结构变形等的影响,整个系统表现为高度的非线性和不确定性。为解决上述问题,提出在智能轮椅中安装超声、红外传感器,利用模糊逻辑算法处理障碍物信息进行室内避障导航。在Simulink中建立轮椅运动学模型和创建模糊控制理论的模糊控制器,进行智能轮椅避障导航仿真。仿真结果表明,智能轮椅能有效完成室内避障,到达目的地,获得良好的避障导航效果。将该方案应用到智能轮椅上,将提高轮椅的智能水平,扩大其应用空间。

How to collect information of external obstacles and to make judgments quickly are important for intelligent wheelchair obstacle avoidance and navigation indoors.In the process of movement,intelligent wheelchair shows a high degree of nonlinearity and uncertainty due to road roughness,tire deformation,and structural deformation.In this paper,the intelligent wheelchair complete obstacle avoidance and navigation by installing ultrasonic sensors and infrared sensors,using fuzzy logic algorithms to deal with obstacle information.To make intelligent wheelchair avoid obstacle indoors,kinematics model was developed,a fuzzy controller was developed based on fuzzy control theory.Simulation results showed that the intelligent wheelchair could avoid obstacle effectively and rapidly when it run indoors.A good effect of obstacle-avoidance and navigation was obtained.Applying this program to the intelligent wheelchair would improve its intelligence and utility.