ROS-based intelligent wheelchair with autonomous navigation function

Abstract

The invention discloses an ROS-based intelligent wheelchair with an autonomous navigation function, belongs to the field of robots, and includes three parts, i.e., a single-chip microcomputer lower computer system, an ROS upper computer system and a robot hardware platform. The single-chip microcomputer lower computer system part includes a single-chip microcomputer, an encoder, an ultrasonic distance sensor, an accelerometer gyroscope, an electronic compass, a motor, a drive and other modules, and the ROS-based upper computer system includes an industrial control computer running the ROS, a Kinect camera, a handle and a mobile phone app. The industrial control host and the single-chip microcomputer are connected through a USB. The ROS-based robot autonomous navigation system provided by the invention achieves functions of interactive operation, path planning and navigation through the industrial control host, controls a robot (wheelchair) to move through the lower computer and can avoid obstacles in time, improves response speed of the robot (wheelchair) and can complete positioning and navigation.

Description

technical field [0001] The invention belongs to robot technology, and relates to a ROS-based autonomous navigation intelligent wheelchair, which can realize the functions of autonomous positioning and navigation and automatic obstacle avoidance. Background technique [0002] Since the birth of robots, robot technology has made great progress and development, and it involves the fields of computer, machinery, automatic control and sensor technology. The development of these related disciplines has promoted the progress of robots. Autonomous mobile robot, which monitors and detects environmental information in real time through sensors, and then uses certain methods to analyze and process sensor information and make motion decisions, so as to reach a predetermined position. [0003] ROS is a software platform specially designed for robots. It provides a rich robot service framework, such as hardware abstraction, underlying device control, inter-process message transmission, an...

AI Technical Summary

Problems solved by technology

[0004] At present, most of the electric wheelchairs are manually controlled, and their functions are single, which requires high requirements for operators. They need to obser...

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