Fuzzy neural network control method for omni-directional intelligent wheelchair to avoid obstacle

A fuzzy neural network and wheelchair technology, which is applied in the field of omni-directional intelligent wheelchair obstacle avoidance based on state control variables, can solve problems such as prone to collisions and wheelchair travel paths deviating from users

Inactive Publication Date: 2014-04-02
BEIJING UNIV OF TECH
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Problems solved by technology

However, in wheelchair tennis and other daily uses, there are situations where the user tries to move the wheelchair backwards. At this time, the direction of movement has exceeded the user'

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  • Fuzzy neural network control method for omni-directional intelligent wheelchair to avoid obstacle
  • Fuzzy neural network control method for omni-directional intelligent wheelchair to avoid obstacle
  • Fuzzy neural network control method for omni-directional intelligent wheelchair to avoid obstacle

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Embodiment Construction

[0075] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0076] Step 1, define input variables.

[0077] The fuzzy logic control method is similar to how people understand things, mainly including three processes of fuzzification, fuzzy reasoning and defuzzification. In order to achieve the purpose of collision-free passage of smart wheelchairs, the present invention collects obstacle distance information around smart wheelchairs through ultrasonic sensors, and classifies obstacle distance information. In the designed fuzzy neural network, five input variables d are defined l , d f , d r , θ, v, respectively represent the distance information of the left, middle and right obstacles, the direction angle of the wheelchair and the speed of the wheelchair.

[0078] Such as figure 2 As shown, when the wheelchair motion direction is -60°~60°, the information collected by No. 0 ultrasonic sensor is used as the front informat...

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Abstract

The invention discloses a fuzzy neural network control method for an omni-directional intelligent wheelchair to avoid an obstacle. An obstacle avoidance algorithm on the basis of an improved fuzzy neural network is combined with a strategy transforming mechanism and a state control variable is added to solve the problem of an obstacle avoidance condition with the motion direction out of an angle of a view field. The state control variable is adopted to record a motion state of a user in the moving process; a path planning result is guaranteed to be close to an original motion direction of the user as far as possible; automatic obstacle avoidance navigation of the omni-directional intelligent wheelchair is implemented. Compared with a conventional obstacle avoidance algorithm, when facing the same obstacle, the fuzzy neural network control method can well forecast the moving direction and the moving speed of the dynamic obstacle so as to rapidly plan an obstacle avoidance path; the obstacle avoidance method provided by the invention enables the wheelchair to carry out obstacle avoidance path planning according to the intention of the user to the greatest degree and not only optimizes the obstacle avoidance path, but also shows humanistic care for the user.

Description

technical field [0001] The invention relates to an obstacle avoidance method for an omnidirectional intelligent wheelchair, in particular to an obstacle avoidance method for an omnidirectional intelligent wheelchair based on a state control variable using a fuzzy neural network. Background technique [0002] In order to provide disabled people with superior mobility tools, help them improve their freedom of movement and reintegrate into society, many countries have conducted research on smart wheelchairs. With the continuous improvement of the quality of life requirements of the disabled, especially the desire to participate in competitive sports, people have put forward higher and more specific requirements for the sports performance of wheelchairs. For example, wheelchair tennis doubles, as a Paralympic event, has attracted the attention of many disabled friends. In conventional wheelchair tennis, athletes with disabled lower limbs must rely on the strength of their upper...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 贾松敏刘钊樊劲辉王成富郑鹏
Owner BEIJING UNIV OF TECH
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