Wheelchair real-time obstacle prediction and avoidance system and method based on multi-target tracking

By adopting an obstacle prediction and evasion system based on multi-objective tracking on an intelligent driving wheelchair, the problem of insufficient dynamic obstacle recognition and prediction in the prior art is solved, and efficient evasion and safe driving in complex environments are achieved.

CN119991738APending Publication Date: 2025-05-13UNIV OF SCI & TECH BEIJING
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Patent Information

Application Number
CN202510197113.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-21
Publication Date
2025-05-13

AI Technical Summary

Technical Problem

Existing intelligent driving wheelchairs are difficult to effectively identify and predict dynamic obstacles in complex environments, resulting in limited performance and application potential in complex dynamic environments.

Method used

A wheelchair real-time obstacle prediction and avoidance system based on multi-objective tracking is adopted. The system includes a data acquisition and processing module, an obstacle detection and tracking module, a decision control module, an interaction module and a communication module. Through technical means such as multi-dimensional feature generation, dynamic obstacle similarity calculation, credibility score and path evaluation function, real-time monitoring and avoidance of obstacles are achieved.

Benefits of technology

It realizes efficient obstacle detection and avoidance under the premise of low computing volume, improves the performance and application potential of intelligent driving wheelchairs in complex dynamic environments, and ensures the safety of users.

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Abstract

The invention belongs to the technical field of intelligent wheelchairs, particularly relates to a wheelchair real-time obstacle prediction and avoidance system based on multi-target tracking, and aims to solve the problem that the performance and application of a wheelchair in a complex dynamic environment are limited in the prior art. The system comprises a data acquisition and processing module used for calculating the distance between an obstacle and a reference point; the obstacle detecting and tracking module is used for generating a suspected area of the obstacle based on the multi-dimensional features; screening out a determined area, then calculating the similarity of suspected dynamic obstacles in the determined area, screening out the dynamic obstacles based on the similarity, and screening out the determined obstacles based on credibility scores; the decision control module is used for determining an optional path based on the path evaluation function; and then a trajectory evaluation preferential function is used to score a trajectory corresponding to path planning, and the trajectory with the highest stability is selected. According to the invention, high-efficiency obstacle detection and avoidance can be realized on the premise of low calculation amount.
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