| In order to help the elderly or disabled people to act freely, it is urgent need to provide them vehicle with superior performance and high degree of intelligent, so intelligent wheelchair was raised. Proposed in this paper to build artificial tags, cameras as the main sensor of intelligent space,for more crowded, mixed, and dynamic higher family indoor environment than others’, intelligent wheelchair can be achieved target oriented tasks from the starting point more quickly, accurately, safely and comfortably. Therefore, this paper has carried out intelligent wheelchair path planning research in intelligent space. Research and discusses from the following several aspects:First of all, this paper introduces some intelligent wheelchair projects, intelligent space and path planning technology in domestic and overseas research status, more details on intelligent wheelchair path planning technology are summarized and analyzed.Secondly, the demand for the functions of the intelligent wheelchair is deeply analyzed from the perspective of psychological and physiological. And on the basis, some modules related to wheelchair path planning are designed, including mechanism ontology, movement control model of intelligent wheelchair and intelligent space. Intelligent space is mainly used to realize the comprehensive perception of family complex dynamic environment.Again, the characteristics of the family indoor environment are analyzed, for its environmental characteristics, indoor multiple rooms and a single room adopt free space method, which is used to modeling. And this paper completed the construction of static environment map and dynamic environment.Finally, this paper proposes a new path planning scheme, mainly dedicated to solving intelligent wheelchair path planning in static and dynamic environment. path planning is divided into two levels: the first layer is a static path planning, the main task of the layer is that intelligent wheelchair carry out a static path for optimization condition in static indoor family environment. Using the particle swarm algorithm carries out path optimization search on constructed static map, and other two search algorithms(ant colony algorithm and genetic algorithm) optimization results are analyzed in comparison, it is concluded that the particle swarm algorithm has strong advantage in real-time and optimization results than ant colony algorithm and genetic algorithm. The second layer is the dynamic path planning, based on dynamic obstacles related information which is detected by cameras in the intelligent space. The dynamic path planning adopts three behavior strategies: static path tracking, collision avoidance, targeting goal. According to relative position and speed between the dynamic obstacles and intelligent wheelchair, and the intelligent wheelchair is divided into three states: direct can escape, indirect can escape, and shall not can escape. The wheelchair adopts static path tracking behavior in direct can escape, adopts the improved particle swarm algorithm for obstacle avoidance in indirect can escape; adopts regional operation mode in shall not can escape.Simulation experiments show that the intelligent wheelchair in a static environment, using the particle swarm gets a shortest, and safe and comfortable path. In the complex and dynamic environment, dynamic path algorithm based on the behavior of the different strategies achieve the real-time, safe, flexible obstacle avoidance. |
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