The Research Of Obstacle Avoiding In Intelligent Wheelchair Robot

The research of obstacle avoidding on Mobile Robot is one of the cores of the pathplanning of Robot. The task is to find an safe path for the Mobile in a circumstance in whichthe start and the end has been know at the lowest expense. Currently, the path planning instatic environment has been fruitful, however there hasn’t a systemic application for themobile circumstance. For further, the research on the intelligent wheelchair which is used forsevering the disables can hardly be found,especially about how to plan path in mobileenvironment. Based on the inner environment such as the hospital or the sanitarium, myresearch focus on the theory and the experiment, settling a set of useful plan which can be putin using in both static and mobile environment. The efficiency and timeing ensure theintelligent wheelchair’s great performance in any circumstance and the safety of the patient atthe same time.The main of my work include the following:Focusing on the mobile environment, my work concentrates on the searching procedureand the stragey of local obstacle avoiding. My search procedure is total path planning and theon-line path re-planning. My obstacle avoiding also prepare different policy for differentobstacle.Focusing on the shortcoming of long time spending of A*arithmetics, I make someimprovement which include amelioration of the enlighten function and the adding weightprocedure of the esteem function.Building the simulation map which is based on the hospital’s construction style accordingto the grid method. Analyse the difference between two overall path planning arithmetic:genetic arithmetic and A*arithmetics. Compare with each other in the simulation platform,get a conclusion that in the same situation the A*arithmetics will overtake the geneticarithmetic.It is proved by the result of the simulation that in the same situation the A*arithmeticafter amelioration can plan the most effective path as well as saving the time.Taking an practical environment for example, I validate the workable of the A*arithmetics after amelioration in path planning and obstacle avoiding. The workable of the arithmetic and the strategy in moving environment has been provedby the simulation experiment.Focusing on the intelligent wheelchair’s path planning for obstacle avoiding, my papergives a useful way of path planning and obstacle avoiding policy. Those work are of greatimportance in both theory and application.