Research On Indoor Localization System For Intelligent Wheelchair

Intelligent wheelchair can provide great convenience for the elderly and disabled people as a transport. To be a convenient transport, intelligent wheelchair must know their precise location in the work environment and information of the working environment, which is the intelligent wheelchair self-localization. In recent years, there is a lot of research on indoor localization system of intelligent wheelchair, which become a hit.In the background of the important project of Tianjin application of basic and cutting-edge research programs, the indoor localization system has been studied. After the research of relative localization, this paper put forward a kind of absolute localization which based on the color code. The color code was placed on the ground and its information of location and RGB was learned and storage. This is creating the map. And then the information of the color code is measured and compared with standard, which is matching the map. When match a kind of color code and measure the deflection angle through the electronic compass, intelligent wheelchair can know its position in the indoor environment.Intelligent wheelchair indoor positioning system is consisted of master control module, color acquisition module, displacement measurement module, ultrasonic obstacle avoidance module and angle measurement module. Color acquisition module measure the information of RGB of surrounding environment; displacement measurement module measure the displacement of intelligent wheelchair by photoelectric encoder, which is controlled by DSP; ultrasonic obstacle avoidance module acquisition the information of obstacles; angle measurement module measure the deflection angle through the electronic compass. The system not only can realize self-localization in indoor environment but also can realize obstacle avoidance and navigation.The system is low cost, high reliability, good real-time. With practical, innovative, advanced, it is a high reliability control system for localization and navigation. The system not only can be applied to intelligent wheelchair but also to the other service robots, which has significant social and economic benefits.