Research On Stair-climbing Attitude Control And Autonomous Indoor Navigation Of Intelligent Wheelchair For The Elderly And The Disabled

With the development of science and technology,the robot technology by leaps and bounds,the robots are increasingly integrated into the human work,life,in various fields can be seen in the figure of the robot.In recent years,the demand for a service robot that aims to better serve the human being has a blowout trend.In the increasing number of disabled people such as an ageing population and limb disability today,the demand for intelligent wheelchair is also gradually increased.The traditional wheelchairs are use human or electric drive,can only move in the ground,when facing the stairs in the course of urbanization are often out of puff.Many scholars have studied the climb building machine,but there are still two questions.On the one hand,the stair climbing machine itself as the starting point,mechanism design and components to complete the climb building function,have not been able to on the intelligent control to do in-depth study;on the other hand,the high cost,complexity is bigger,can't really walk into the general population.In this paper,the concept of intelligent wheelchair has been proposed,intelligent control of the robot technology is introduced into the ordinary wheelchair,make ordinary wheelchair also possess many of the good qualities of intelligent robots.In order to solve the practical application requirements,this paper focuses on the two aspects of the "mobile" problem of the intelligent wheelchair climbing and indoor autonomous navigation,mainly includes the following content.First,design the intelligent wheelchair chassis available for research and convenient debugging,contains the mechanical structure of the chassis parts and electrical hardware structure,and the overall function and structure were analyzed.Second,motion processing components MPU6050,ultrasonic,infrared sensor data has been collected when climbing stairs,its application in adaptive fuzzy PID attitudecontrol algorithm,to control the direction of the intelligent wheelchair,the relative position and the function of the anti-interference ability,etc,and Simulink simulation experiment,the algorithm in the final test to do further validation of the algorithm,achieved good control effect.Third,carries on the research analysis based on language and cognitive maps of indoor autonomous navigation,under the above map information,the function such as realize the indoor positioning,moving to the target point,dynamic path planning,this article proposed method has a good performance on enhancing positioning effect,anti-jamming performance.Fourth,using the way of combination the global and local methods,research path planning algorithm.With the concept of global and local nodes associated topological layer in the area-position,on a larger scale using a global path planning,a small scale using the active window dynamically according to the obstacles in real time to adjust its local path planning,and the obstacles of motion analysis of the trend,make the dynamic obstacle avoidance and the ability to navigate unfamiliar environment have improved greatly.Based on the above content,through the experimental research on the chassis of the intelligent wheelchair was tested,the results show that the designed chassis in line with the expected results,and it can complete the intended target,laid the foundation for follow-up study.