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Intelligent wheelchair outdoor navigation method based on coordinated control

A technology of coordinated control and navigation methods, applied in the field of navigation, can solve problems such as poor navigation effect, insufficient real-time performance of navigation algorithms, and high system cost

Active Publication Date: 2012-01-18
CHONGQING UNIV OF POSTS & TELECOMM
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  • Summary
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AI Technical Summary

Problems solved by technology

[0003] There are still some problems for ordinary smart wheelchairs to be practical in outdoor environments: the navigation effect is not good in unknown environments; the navigation algorithm is not real-time enough, and it is difficult to adapt to the dynamic environment; The navigation effect is not good in the case of the area; sometimes the environment needs to be preprocessed, and the system cost is high

Method used

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  • Intelligent wheelchair outdoor navigation method based on coordinated control
  • Intelligent wheelchair outdoor navigation method based on coordinated control
  • Intelligent wheelchair outdoor navigation method based on coordinated control

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Embodiment Construction

[0033] The present invention will be further described below with reference to the drawings and embodiments.

[0034] A smart wheelchair outdoor navigation method based on coordinated control. It includes a fuzzy controller, a coordinated controller, a GPS positioning device and three ultrasonic sensors. The steps are as follows:

[0035] 1) Wheelchair and obstacle information collection: GPS positioning device and three ultrasonic sensors collect information in real time. The GPS positioning device is used for self-positioning of the wheelchair itself. The three ultrasonic sensors are located on the left and right sides and directly in front of the wheelchair. Monitoring

[0036] 2) Design trend behavior: Calculate the position and posture of the wheelchair according to the data of the GPS positioning device, use the position and posture information of the wheelchair as input information, and design the trend behavior of the wheelchair through fuzzy controller processing, that is, t...

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Abstract

The invention provides an intelligent wheelchair outdoor navigation method based on coordinated control. The method is characterized by acquiring external environment information by a GPS (global positioning system) and ultrasonic sensors, firstly adopting a control method based on behaviors to coordinate with a fuzzy logic algorithm to design behavior modules with different functions, secondly adopting a neural network algorithm to design a behavior coordination controller, and realizing the autonomous navigation function with higher intelligence through the coordinated control of the behavior modules. The method has the advantages that the cost of the outdoor navigation system can be lowered; and the real-time property and the robustness of the system can be improved.

Description

Technical field [0001] The invention relates to the field of automation, in particular to a navigation method. Background technique [0002] Under normal circumstances, the mobility and reaction abilities of the elderly and the disabled are lower than ordinary people. Therefore, assistive tools designed for them must not only have good mobility, but also have the ability to think independently and be able to communicate with users easily. Ability. As a kind of intelligent electric wheelchair, the smart wheelchair can not only be driven by a motor, but also has the intelligence of a high-end mobile robot. It has a good human-machine interface and can realize autonomous control. It is an auxiliary tool for the elderly and the disabled best choice. [0003] Ordinary smart wheelchairs still have some problems to be practical in outdoor environments: poor navigation effects in unknown environments; insufficient real-time navigation algorithms to adapt to dynamic environments; navigati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00G05D1/02
Inventor 张毅罗元李敏谢颖蔡军林海波张军胡豁生
Owner CHONGQING UNIV OF POSTS & TELECOMM
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