The Control Of Intelligent Wheelchair Using Brain Computer Interface

Brain Computer Interface(BCI) is a new and creative interaction to the disabled people and old people, which is different with the common ways. In order that ratio of old person becomes more and more grant, the number of disabled people who was caused by the natural disasters was improved continually. In recent years, there are many institutions and research teams have devoted into this region which can improve inconvenient people’s quality of live and moving possibility. In order to provide an additive tool based on BCI-a brain actuated electronic wheelchair, people are more like those functions of intelligent wheelchair, such as automatic moving, avoiding obstacles, user interface, and mapping.In this paper, based on shared control strategy brain-controlled intelligent wheelchair, this system combines artificial intelligence and machine intelligence, and it combines with BCI control mode and autonomous control mode. In the autonomous control mode, intelligent wheelchair detects the external environment through the laser sensor and achieve to avoid obstacle by the angle potential field method, what’s more, it use the visual sensor to detect the environment visual features which can assist location based on the visual SLAM algorithm. In the BCI control mode, the paper combines a trajectory planning algorithm with BCI to produce a smooth curve, which is different with traditional control mode that drives the wheelchair by direction commands, and it can decrease shaking disturbs for changing directions and reduce affections of EEG signal. This paper presents a shared control strategy based on BCI control mode and autonomous control mode. The paper presents a shared control strategy based on mode switching and another shared control strategy based on mode integration, each of the methods has been proved through experiments. This paper has been designed by the way of modular design. Each functional module of the system has been tested by a separate theoretical simulation and actual test, so that each module can be implemented with the system and stability. Finally, this paper employed several volunteers for the experiments. In statistics, the results of experiments have achieved the control requirements.Especially, based on the above requirements of each module, the paper by an ordinary electric wheelchair modified designs hardware and software systems, and through a lot of validation experiments, including: avoidance test, visual aids positioning experiments, brain computer interface experiments, trajectory planning experiments and sharing control strategies experiments. Experimental results show that the theory of algorithms and methods used in this paper has proposed some practical effect; this design intelligent wheelchair is feasible and practical.