基于激光SLAM自主导航技术的多功能共享轮椅  

Multi-function Shared Wheelchair Based on Laser SLAM Autonomous Navigation Technology

作　　者：刘凯 李鹏 林群煦 林梓健 张立炜 LIU Kai;LI Peng;LIN Qunxyu;LIN Zijian;ZHANG Liwei(School of Rail Transportation,Wuyi University,Jiangmen 529000,China)

机构地区：[1]五邑大学轨道交通学院,广东江门529000

出　　处：《机械工程师》2024年第4期45-48,共4页Mechanical Engineer

摘　　要：共享轮椅可以使老年人和残障人士的生活更加便利。为了实现轮椅智能化的共享使用,创新设计了一种基于激光SLAM导航技术的多功能智能共享轮椅,该轮椅配备有激光雷达传感器,利用Cartographer算法的激光SLAM建图技术,对所在场所环境进行扫描,完成地图构建;基于DWA动态窗口算法,应用多种控制方式来实现智能轮椅的自主导航、自主避障和定位。并用Rviz仿真验证了轮椅的各项功能,实现了轮椅在特定场所环境下使用的可行性和有效性。Shared wheelchair can make the life of the elderly and the disabled more convenient.In order to realize more intelligent sharing and use of wheelchairs,a multifunctional intelligent shared wheelchair based on laser SLAM navigation technology is innovatively designed.The wheelchair is equipped with laser radar sensors,and the laser SLAM mapping technology of the Cartographer algorithm is used to scan the location environment and complete the map construction.Based on DWA dynamic window algorithm,multiple control modes are applied to realize autonomous navigation,autonomous obstacle avoidance and positioning of intelligent wheelchair.The various functions of the wheelchair are verified by using Rviz simulation,and the feasibility and effectiveness of using the wheelchair in a specific environment are realized.

关 键 词：智能共享轮椅 机构设计 自动导航与避障 人性化系统设计 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]