The Intelligent Wheelchair Navigation And Multi-sensor Information Fusion Research

Intelligent wheelchair is an application of intelligent robot technology . Wheelchairs as mobility aids to handicapped persons and the elderly help that they can be in harmony with society. With the development of bionics, micro-electronics and pattern distinction, the skill of wheelchair changes profoundly, having the abilities of remembering map,avoiding obstacles,autonomous mobile ,communicat-ing with users and servicing users. In this paper the navigation of intelligent wheelchair and multi-sensors fusion are researched.The hardware and soft structure of wheelchair are designed and the kinematics character is analyzed. A multi-sensors fusion system based fuzzy logic neural network is brought forward and the momentu grads descend arithmetic and L-M advanced arithmetic are compared. Furthmore,a subarea arithmetic for fusing primarily is put forward and the obstacle environment is sorted by BP network.Based the result of multi-sensors fusion the sort of environment and path planning are achieved. MAKLINK Graph is used for modeling whole environment and with Dijkstra arithmetic and a geometry method the mininum value is worked out . The behaviors among navigation are designed.A simulation system is designed through VC6.0. Simulation results in kinds of environment are given. The results indicate that the navigationmethod is good and feasible. Compared with other arithmetic the strongpoints of this method are it can find out safe path between near obstacles without surge.In the support of above achievement,a flexible and good method of navigation and multi-sensors fusion is found.The result in this paper can be used in mobile robot and high performance can also be gained.