Research On Sharing Control Method Of Robot Wheelchair Based On Multi-mode Human-computer Interaction

As one of the key technologies of the robotic wheelchair,the human-machine interaction control interface has a vital influence on the harmonious and cooperative control between the user and the wheelchair.Traditional electric wheelchairs use joysticks to control the movement of the wheelchair,which is difficult for users with physical disabilities;Using the user’s only skills to control the movement of the wheelchair,but maintaining a posture for a long time will cause user fatigue,and inadvertent posture changes will cause a sudden change in the wheelchair driving path,causing unnecessary safety hazards;Using a robotic wheelchair to navigate autonomously to provide users with excessive assistance will cause users to lose their remaining control skills.Solving such problems is to allow users and robotic wheelchairs to share control rights and complete control tasks together.Shared control has become a research hotspot in the field of robot control.Based on the multi-mode human-machine interactive control method and autonomous navigation control method of the robot wheelchair,this subject proposes a method of human-machine shared control.The main findings are as follows:(1)Develop the multi-mode human-machine interactive control method and switching method of the robot wheelchairUse the electric wheelchair developed in the laboratory as a platform to improve the interactive control method of head posture,develop gesture interaction and autonomous navigation control methods,and integrate multi-mode human-machine interaction control methods based on interactive control methods such as head posture,gesture and joystick control,and research the switching method of multi-mode human-machine interactive control mode verifies the control effect of multi-mode human-machine interactive control mode.Develop the autonomous navigation function of the robotic wheelchair to verify the autonomous movement effect of the wheelchair.(2)Design a dynamic shared control algorithm for the robotic wheelchairThe dynamic shared control algorithm of the robotic wheelchair is designed based on the environmental factors and the changes of the user’s state during the driving of the robotic wheelchair.According to various constraints such as the shortest distance between the wheelchair and the obstacle,the degree of user fatigue,and the smoothness of the trajectory of the user-controlled wheelchair,the control weight coefficient between the human-machine interactive control mode and the autonomous navigation control mode is dynamically updated,and the human-machine control command information is linearly combined.Realize the shared control of the robotic wheelchair,and choose the real scene to verify the experimental effect.(3)Robotic wheelchair software system designCombined with the multi-mode human-machine interaction control method and shared control method of the robot wheelchair proposed in this article,the control system software architecture is built based on the robot operating system,and a friendly human-machine interaction interface is designed.The interface is reserved for later redevelopment of the wheelchair.And choose the real scene to verify the experimental effect.