The invention discloses a
wheelchair path
planning method based on a grid map and an eye-controlled
wheelchair navigation system. Belongs to the technical field of intelligent path planning and particularly relates to the technical field of
wheelchair path planning based on a grid map. The method overcomes the defects that according to an existing
common path planning method, when the
road condition is complex, the path planning quality is low, and the path is too close to an obstacle. An original cost function is formed by respectively weighting existing
path cost,
heuristic cost and safety cost, the method provides a dynamic weighting strategy, and comprises the following steps: firstly, weighting a w2
heuristic cost weight according to a current distance; specifically, in the initial stage of searching, we hope to converge to the position of a target point as quickly as possible, namely, increase the
weight value of w2, and decrease the value of w2 as the w2 approaches to the target point, and at the moment, better path quality is required to reach the target point. In addition, the value of w3 is dynamically adjusted according to the number of obstacles in a certain range where the current node is located, so that a
safer path is exchanged in a complex environment.