智能轮椅室内导航路径规划算法  

Path Planning Algorithm for Smart Wheelchair Indoor Navigation

作　　者：徐彪[1] 蒋朝阳[2] 朱健铭 陈真诚[3] 

机构地区：[1]桂林电子科技大学电子工程与自动化学院,桂林541004 [2]昆明理工大学现代农业工程学院,昆明650500 [3]桂林电子科技大学生命与环境科学学院,桂林541004

出　　处：《计算机系统应用》2015年第8期171-175,共5页Computer Systems & Applications

基　　金：研究生教育创新计划资助项目(GDYCSZ201429);国家科技支撑计划(2013BAI03B01);广西信息科学实验中心项目基金(20130106)

摘　　要：智能轮椅为丧失行走能力的人提高生活质量和生活自由度.适用于智能轮椅的路径规划问题是其重要的技术之一.实际环境中行走的难易程度是有区别的,对此提出一种新的路径规划算法,即寻找最优路径的导航方法,对室内环境进行栅格模型建模,并利用最邻近关系结合改进的A*算法来规划两个位置之间的最优全局路径,采用虚拟力场算法实现途中的局部路径规划.此算法只需要采集用户需要到达目的地的信息,智能轮椅能自动导航到达目的地,经实验验证,该算法运用到智能轮椅室内导航系统中路径得到较好的改善并具有反应快、工作稳定可靠、使用灵活方便和扩展性强等优点.The smart wheelchair improve the quality of life and give more freedom for people who lose the ability to walk. Path planning for smart wheelchair technology is one of an important Technology. Research method The degree of difficulty walking in the actual environment is difference. A new path planning algorithm for a kind of navigation methods to find the optimal path has been proved. Firstly the grid modeling has been established for indoor environment, and the adjacent relation with the improved A＊ algorithm has been used to optimal planning of global path between the two positions, then the virtual force field algorithm can be implemented for the local path planning on the way. Results and Conclusions This algorithm just needs to gather the information where you want to reach, then the smart wheelchair can automatically navigate to the destination. The experiments show that the algorithm is applied to the smart wheelchair indoor navigation system to reach the expectations and has the advantages of quick response, stable performance, easy to use and strong extensibility.

关 键 词：智能轮椅 路径规划 虚拟力场 A＊算法 

分 类 号：TH789[机械工程—仪器科学与技术] O221[机械工程—精密仪器及机械]