Obstacle detection and autonomous obstacle avoidance method for intelligent wheelchair

An obstacle detection and obstacle technology, which is applied in the field of obstacle avoidance technology, can solve the problems of accumulation of sensor measurement errors, systematic errors, unsuitability for large-scale environments, and difficulty in obtaining a globally consistent map, etc. Reduce the accumulation of mileage errors and observation errors, and achieve the effect of accurate environmental mapping

Inactive Publication Date: 2019-11-19
NANJING UNIV OF SCI & TECH
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Problems solved by technology

In most cases, the mapping method is based on the filtering method, which mainly estimates the posterior probability of the system state based on the recursive Bay

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  • Obstacle detection and autonomous obstacle avoidance method for intelligent wheelchair
  • Obstacle detection and autonomous obstacle avoidance method for intelligent wheelchair
  • Obstacle detection and autonomous obstacle avoidance method for intelligent wheelchair

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Embodiment Construction

[0032] combine figure 1 , an obstacle detection and autonomous obstacle avoidance method for an intelligent wheelchair, comprising the following steps:

[0033] Step 1, coordinate system model, motion model, laser sensor observation model, and estimate the traveling pose of the wheelchair through the mileage;

[0034] Step 2, detecting the moving environmental obstacles through the visual sensor and determining the edge contour of the obstacles;

[0035] Step 3, create a local map through a graph-optimized mapping algorithm;

[0036] Step 4, according to the local mapping results, a globally consistent map is generated by the grid method;

[0037] Step 5: According to the obstacle and the posture state of the wheelchair, the direction and speed of the wheelchair obstacle avoidance are planned through the repulsion potential field method.

[0038] Step 1, the smart wheelchair is a two-wheel differential, and the motion model of the wheelchair can be established through the d...

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Abstract

The invention provides an obstacle detection and autonomous obstacle avoidance method for an intelligent wheelchair. The method comprises the following steps that: the advancing pose of the wheelchairis estimated through a milemeter, and a motion model and an observation model are established; a laser ranging sensor collects the data of a surrounding environment, the outline of an obstacle in a video is collected and detected through a monocular vision sensor; local mapping is performed on the surrounding environment through a graph optimization-based mapping algorithm; a globally consistentmap is generated through a grid method according to a local mapping result; and the obstacle avoidance direction of the wheelchair is planned through a repulsive force potential field method accordingto a pose state relationship between the obstacle and the wheelchair in the map.

Description

technical field [0001] The invention relates to an obstacle avoidance technology, in particular to an obstacle detection and autonomous obstacle avoidance method of an intelligent wheelchair. Background technique [0002] Smart wheelchairs incorporate mobile robot technology on the basis of electric wheelchairs to assist the mobility of the elderly and disabled, reduce the requirements for users, and improve the safety of wheelchairs. At present, the development of intelligent wheelchairs is mainly in two aspects: autonomous navigation and human-computer interaction. In terms of autonomous navigation and obstacle avoidance, most of the existing autonomous navigation and obstacle avoidance are applied to specific occasions or under the conditions of setting road signs, and the environmental adaptability is poor, which cannot meet the actual needs of users. [0003] SLAM technology is used to enable mobile robots to localize the environment and create incremental maps in an u...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0231
Inventor 李昊彭富明孙瑜汪凯鑫庄纪岩
Owner NANJING UNIV OF SCI & TECH
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