室内环境中脑控轮椅的路径跟踪控制

Path Tracking Control of Brain-controlled Wheelchair under Indoor Environment

为了实现室内环境中脑控轮椅的自主导航,提出了一种简单有效的路径跟踪控制方法;给定的路径通常被表示为一系列离散点,根据这一特点,提出了分段直线路径跟踪方法,即依次跟踪由前后两个路径点构成的直线路径到达目标点;基于预瞄点技术并结合模糊算法和传统的PID控制方法设计控制器,完成各分段直线路径的跟踪,并给出了有效的切换条件;实验结果表明,文章提出的路径跟踪控制方法能够使脑控轮椅在室内环境中精确地跟踪给定路径。

In order to achieve autonomous navigation for brain-controlled wheelchairs under indoor environment,a simple and effective path tracking control method is presented.The given path is usually expressed as a series of discrete points,according to this,a piecewise straight path tracking method is proposed,i.e.,track the straight path constituted by two adjacent path points successively to reach the target point.Based on the preview point technology,as well as the combination of fuzzy algorithm and traditional PID control method,the controller is designed to complete the tracking of each piecewise linear path,in addition,an efficient switching condition is given.Finally,experiments are run to testify the proposed path tracking control method and experimental results show that the method can preserve the wheelchair on its desired path precisely under indoor environment even though the disturbance level is of high value.