Research Control System Of The Intelligent Wheelchair

The aging of the population has been a non-negligible current situation.Intelligent wheelchair improves the freedom of action of the elderly and people withdisabilities. So it has a good prospect and social values. The paper analyzes thedevelopment status and key technology of intelligent wheelchair. The main goal ofthe paper is to achieve four functional mode of the intelligent wheelchair in the wayof building a distributed control platform. At the same time control and simulateintelligent wheelchair obstacle avoidance module.This paper analyzes the mechanical structure of the intelligent wheelchair.Design intelligent wheelchair distributed control platform based on the requirements.Determine the control system module of the intelligent wheelchair is main controlmodule and encoder signal acquisition module and the handheld box control moduleand using the AT90CAN128processor as the core of the control module. The controlsystem chooses CAN communication between three control modules. The controlsystem well achieves intelligent wheelchair motion control. The paper completecontrol algorithms and software design of the intelligent wheelchair by analyze on theprinciple of four working mode: the wheelchair mode and ups mode open-loopcontrol. The rehabilitation mode uses a PI controller. The walking aids mode uses a PIcontroller based on the double crank walker institutions gait planning model.Simulation and analysis walking aids mode, confirmed the design of the controlsystem reliability.The intelligent wheelchair use ultrasonic sensor to detect the environmentalinformation of the wheelchair surrounding space in obstacle avoidance module anduse fuzzy algorithm calculating fuzzy relations between obstacle direction andlocation. Infer intelligent wheelchair walking path to make intelligent wheelchair safe.In addition, the obstacle avoidance module has2photoelectric sensors to detect thewheelchair rear and pavement obstacles. Using C#simulate intelligent wheelchairwalking path, verify the intelligent wheelchair can safely reach the destination incomplex terrain.