Wheelchair robot and indoor autonomous navigation method thereof

A technology of robots and wheelchairs, which is applied in the fields of instruments, motor vehicles, and vehicle rescue. It can solve the problems of automatic navigation and manual control of wheelchairs, and achieve the effects of low development costs, real-time performance, and improved work efficiency.
CN108897328APending Publication Date: 2018-11-27GUILIN UNIV OF ELECTRONIC TECH
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
GUILIN UNIV OF ELECTRONIC TECH
Publication Date
2018-11-27

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Abstract

The invention discloses a wheelchair robot and an indoor autonomous navigation method thereof. The method comprises the following steps: sensing the environmental information through a monocular vision sensor, and constructing a three-dimensional point cloud map for the obtained environmental features by use of a vision SLAM algorithm; performing storage, perfection and rasterization treatment onthe formed point cloud map; loading the treated raster map, and performing self-localization of a moving wheelchair robot by the Monte-Carlo algorithm; finally, while performing continuous localization, finishing global path planning and local dynamic path planning by the wheelchair robot in the navigation process by combining the ant colony algorithm and the dynamic raster algorithm. The method disclosed by the invention can realize autonomous navigation of a wheelchair.
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Description

technical field

[0001] The invention relates to the technical field of wheelchair robots, in particular to a wheelchair robot and an indoor autonomous navigation method thereof. Background technique

[0002] At present, most of the wheelchairs used in daily life have single functions and many links that require human participation. However, the existing intelligent wheelchairs are often not widely popularized due to factors such as high production costs, complex structures, and insufficient code reuse rate. Although there are currently some wheelchairs that can be manually controlled, frequent manual manipulation is still required during the wheelchair's travel, and its own obstacle avoidance and navigation also require human real-time monitoring operations, which makes the degree of autonomy not high. Contents of the invention

[0003] The present invention aims to solve the problem that existing wheelchairs need manual control and cannot navigate automatically, and prov...

Claims

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