The Reserch Of Intelligent Wheelchair's Driving Control System And Collision Avoidance

With the development of social civilization, it has increasingly been the attention from all works of life to protect and enhance the quality life for the elderly, the disabled people and other disadvantaged groups. As a means of transport, manual and electric wheelchairs have been widely used. Yet for part of people who hardly can care for themselves and the disabled ones, they cannot operate general electric wheelchairs. Therefore, a kind of new and intelligent wheelchairs with more convenient operation have been a hot topic for study.Firstly, for the sake of practicality, in this thesis, author designs a kind of intelligent wheelchair. Based on information fusion theory and chosen DSP2407A for control chip and intelligent information processor for multi-sensor data processor, the design offers a variety of intelligent control methods, which laid a framework for future researches. Additionally, the primary shape of the intelligent wheelchair will be outlined by AutoCAD.Secondly, this thesis introduces detaily the software and the hardware designs of the intelligent wheelchair's driving control system, whose motor driving circuit and thorough driving equipment are set up respectively by a dedicated motor control chip, DSP2407A and a dedicated electrical power equipment, the intelligent wheelchair's special motor. After having been programmed by CCS2.2 software, a better control effect is achieved, including the steering and the speed of the motor can be easily realized.Then with AS-R mobile robot as the hardware platform, the thesis especially focuses on the application of two-layer information fusion in the intelligent wheelchair collisions from a multi-sensor information fusion angle. In this thesis, a new scheme to avoid intelligent wheelchair collisions is designed, which bases on the feature-level -- the decision-making level of the two-Fusion Structure and the former uses the minimum and maximum synthesis principle to deal with the uncertain information whearas the later makes use of fuzzy controller to manipulate the collision avoidance of mobile robots.Finally, the author simulates the two-layer information fusion structure of Matlab and the AS-R mobile robot objects collision test achieves to a certain effect.The overall structure of the intelligent wheelchair and the control scheme designed in the thesis hint the right direction for future researches. The design for wheelchair's driving controller not only makes intelligent wheelchair possible but provides a mobile platform for it. Futhermore, the study on intelligent wheelchair collision avoidance based on two-layer information fusion laid a theoretical foundation for intelligent wheelchair.