Research Of Intelligent Wheelchair For The Old

With the continuously increase of aging in all world, it is very important to provide the old people convenient means of transport. As one type of mobile service robot, intelligent wheelchair which combines different technology in many fields has stronger environment adaptability, more smooth motion control and friendlier human-computer interaction.In this paper, an intelligent wheelchair prototype was made based on modular design method. An indoor location system based WSN using CSS sensor of the intelligent wheelchair was designed and the application of fuzzy control theory in obstacle avoidance is studied,building ultrasonic ranging system in intelligent wheelchair and programming ranging algorithm used to detect the obstacles.Through the study on intelligent wheelchair at home and abroad, there are less researches for the problem that there is biggish error while intelligent wheelchair dynamic positioning. To solve the problem that large error existed during dynamic positioning, the author analyzed the basic principle of standard Kalman filter, extended Kalman filter and particle filter, established the appropriate filter model of dynamic positioning of the intelligent wheelchair. The results of experiments showed that dynamic positioning error of the intelligent wheelchair within 1 meter can reach to 97.5% and localization performance increased by 27.8% compared with the traditional method of trilateration.Based on the analysis of main content of human-computer interaction design, design principles of the intelligent wheelchair were put forward to make the human-machine interface more suitable for the elderly considering the psychological physiological characteristics of them. Control software of intelligent wheelchair was programmed on the android platform.Key performance of each module of the intelligent wheelchair had carried on the simulation and field test,the experimental results show that the intelligent wheelchair prototype can provide interactive friendly human-machine interface for the elderly, the intelligent wheelchair control system can real-time response command input and fuzzy control module for obstacle avoidance using ultrasonic sensors also work well. Based on dynamic locating and tracking, the intelligent wheelchair is able to walk independently which has a strong practical value...