Research On Design And Path Planning Technology Of Intelligent Wheelchair Based On ROS

With the increasing ageing of the population worldwide and the increasing number of people with disabilities,the demand for intelligent products that improve the mobility of the elderly and people with disabilities is increasing.As a typical representative of the old and disabled service robots,the intelligent wheelchair has strong environmental adaptability,safe and stable sports performance and intelligent interaction.It is an indispensable tool in social rehabilitation engineering and has important research value.And social significance.Of course,the problems still existing in smart wheelchairs include: how to make the wheelchair movement smoother and bring more comfortable experience to the occupants;how to help those who have back problems or need to sit in wheelchairs;how to reduce the design of intelligent wheelchair algorithms Experiment costs and shorten the development cycle.In response to the above problems,on the basis of the market research status of intelligent wheelchair research and in-depth understanding of the pain points of wheelchair functions,through continuous investigation and repeated verification,it is finally determined that it is easy to enter from the rear of the wheelchair,with one being carried and leaning against the front.The posture of the board enables the wheelchair design to ride and the wheelchair design parameters are obtained through survey data.In the CATIA development environment,the three-dimensional modeling and overall assembly of all components of the intelligent wheelchair were completed.The intelligent wheelchair was simulated by the CATIA simulation module,and the mechanical performance of the wheelchair was analyzed by ANSYS software.Aiming at the development of the existing intelligent wheelchair control system,the ROS system is proposed to realize the control of the intelligent wheelchair.In the ROS framework,path planning,unknown environment location and map creation(SLAM)are the key to automatic wheelchair navigation.The laser radar sensor is used to realize the SLAM technology.The defects and shortcomings of the existing basic ant colony algorithm to solve the path planning problem are analyzed in detail.For the path planning raster map,there are excessive corners and excessive accumulated corners,combined with the wheelchair itself.Based on physical condition constraints and environmental condition constraints,an improved ant colony algorithm is proposed.This algorithm can effectively remove the excess corners and smooth the corners through three Bezier curves to improve the smoothness of path planning.The algorithm is validated by MATLAB software.The verification result is in line with the expected effect of the algorithm.Finally,with the virtual reality technology provided by ROS system,the practicality and feasibility of GAZEBO physical simulation experimental platform verification algorithm in mobile robot system are established.At the same time,in the actual test environment,the effectiveness of the improved algorithm is verified by the motion of mobile robot.