基于模糊控制的轮椅自主跟随与避障系统

Target following and obstacle avoidance wheelchair with fuzzy control

摘要:

为了减轻看护人员的负担，设计并实现了一种基于模糊控制的嵌入式轮椅自主跟随与避障系统。首先利用激光扫描雷达实时探测轮椅周围人员和障碍物的位置，并结合信号强度定位方法，将目标人员准确识别出来。然后将目标人员和障碍物的相对于轮椅的位置偏差作为输入，利用模糊控制方法，建立模糊控制规则，将跟随与避障进行综合决策，控制轮椅的线速度和角速度以实现自主跟随与避障。实验表明轮椅能准确识别出目标人员和干扰人员，对目标人员的跟随效果较好，并能在跟随过程中准确避开障碍物。

Abstract:

In order to reduce the burden of caregivers, a target following and obstacle avoidance embedded intelligent wheelchair is designed and implemented with fuzzy control. The location of persons and obstacles around wheelchairs can be detected in real time by laser scanning radar, and the target can be identified accurately combining RSSI localization method. The position error of the target person and the obstacles relative to the wheelchair is used as the input. The fuzzy control rules are established by using the fuzzy control method, and the comprehensive decision of following and avoiding obstacles is made to control the translational velocity and rotational velocity of the wheelchair .Experiment shows that the wheelchair can identify target person and obstacles, meanwhile it can follow the target and avoid obstacles accurately.