智能轮椅导航系统的仿真与实验  

Simulation and Experiments of Navigation System for Intelligent Wheelchair

作　　者：王丽军[1] 

机构地区：[1]上海交通大学自动化系

出　　处：《微型电脑应用》2010年第12期40-43,2,共4页Microcomputer Applications

摘　　要：提出了一种在动态环境下可以自主导航的智能轮椅系统。首先,介绍了一个基于模块化设计的移动机器人仿真平台。然后,结合仿真平台以及机器人在实际导航中遇到的问题,建立动态环境下智能轮椅的导航系统。本系统将全局规划和局部行为以及重规划结合在一起,通过激光雷达探测周围环境的变化,并根据环境变化的程度选择一种能够适应环境变化的导航方法。最后,实验结果表明,采用所提出的方法可以使智能轮椅成功得抵达目的地。This paper presents a navigation system for intelligent wheelchair in dynamic environments.Firstly,this paper presents a modularized simulation system for mobile robot.Secondly,a navigation system for intelligent wheelchair in dynamic environments is introduced based on the simulation system and the problems in real navigation.The system,combining global planning with local behaviours and replanning,can choose a suitable navigation method to adapt to the change of the environments detected by a laser range finder.Lastly,experimental results show that the proposed system can ensure the intelligent wheelchair arrive at the goal point successfully.

关 键 词：智能轮椅 导航 仿真 实验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]