Research On Indoor Self-positioning And Path Planning Of Intelligent Wheelchair For The Elderly And Disabled

In recent years,the prominent feature of China's population is the aging of the population.Because of the low level of medical care in the past and the great construction in the past few decades,many of these people have the problem of walking.In addition,because of the social changes brought about by the economic development,disasters,accidents and other factors have caused the disabled to increase year by year.At the same time,the emergence of the intelligent wheelchair has brought the dawn to this part of the community.It has brought great help for improving their living standard and reducing the family burden.The realization of wheelchair's intelligence lies in solving the problem of location and path planning.This is also the key technology to show the advantages of the smart wheelchair.The main research work of paper includes:First of all,by comparing several traditional wheelchair mechanical structures,a wheelchair mechanical structure suitable for indoor environment is designed.The overall control system of wheelchair and the selection of power source for wheelchair are analyzed,including the choice of motor and the choice of power supply.Secondly,According to the high precision requirement of indoor positioning of intelligent wheelchair,this paper adopts the positioning system combining ultrasonic and ZigBee.In the meantime,this paper elaborates the positioning principle and working process about positioning system while explaining the hardware requirements of wheelchair positioning and verifying the feasibility of positioning system.As a result,experiments prove that the positional accuracy reaches centimeters measurement,which conforms to the positional accuracy requirements of intelligent wheelchair.Finally,the path planning is studied,and the process of map building is discussed in detail.Considering the actual working environment of wheelchair,the corresponding obstacle avoidance system is designed.Based on the multi-sensor information merging technology with fuzzy control,this paper designs the fuzzy controller and fuzzy rules.On this basis,obstacle avoidance simulation of fuzzy control is executed on the Matlab simulation platform on that basis.And the simulation result shows that obstacle avoidance algorithm of multi-sensor information merging technology with fuzzy control can be applied better for real-time obstacle avoidance when the intelligent wheelchair works,which has a high practical value.