The Research On Design And Integration Of Outdoor Independent Navigation Behaviors Of Aging Disabled

In order to solve the problem of the elderly and the disabled in outdoor,the social needs of the multi-function wheelchair are growing up.Multi-function wheelchair should have the autonomous route planning and autonomous navigation control ability when traveling outdoor.Therefore,the related research involves the control system architecture,multi-sensor information fusion,local path planning,global path planning,automatic obstacle avoidance and other aspects content.In this paper,we propose a method to aim at the global route navigation based on Baidu map.The local route navigation based on vision and the avoidance behavior method based on the depth data.In the campus environment,the algorithm is tested to prove the effectiveness of the above method.The main contents of this paper include:In chapter 1:investigates the status quo of intelligent wheelchair at home and abroad,introduces the key technologies involved in the control technology of intelligent wheelchair autonomous navigation,including system positioning,information fusion,path planning and obstacle avoidance,and introduces the main work of this paper.In chapter 2 introduces the system of intelligent wheelchair autonomous navigation,including hardware frame design and software frame design.Arduino board as the master chip drive the DC moto with intelligent power chip BTS7960 constituting a full bridge circuit.The design of the motor slow start algorithm control the wheelchair in a smooth and comfortable way of movement during the process.Related system model was established,including wheelchair coordinate system model and wheelchair kinematics model.Study the position vector representation of wheelchair in global coordinate system.In Chapter 3:design a global path navigation based on Baidu map.Using the Beidou module and electronic compass to determine the location and attitude of the intelligent wheelchair on Baidu map.calculate the distance and direction angle of the target point.complete the global navigation behavior design,and plan the remote monitoring host computer,in the remote real-time observation wheelchair related parameter.In chapter 4:design a local path navigation based on vision.Using the median filter preprocessing and Canny operator to detect the edge and Hough transform to extract the line onthe road image,calculate the vanishing point to fitting out the navigation line.According to whether the navigation line,designed a vanishing point and no vanishing point following behavior.Through the processing of the depth data collected to achieve the road through the degree of calculation to complete the road obstacle avoidance behavior.In chapter 5 introduce the behavior competition mechanism,and adopt the behavior competition mechanism to design the fusion of global route navigation behavior,local route navigation behavior and obstacle avoidance behavior.This paper proposes a method to integrate the global route navigation behavior based on Baidu map,the local path navigation behavior based on vision and the autonomous navigation method based on the deep data avoidance behavior.The algorithm is tested in the campus environment after the fusion of the above behaviors.Road on the proof of the effectiveness of the above-mentioned behavior.In chapter 6:summarize the research contents of this article,and the future needs of more in-depth study of the prospects.