智能轮椅室内导航路径规划算法.pdfVIP

2015 年 第 24 卷 第 8 期 计 算 机 系 统 应 用 智能轮椅室内导航路径规划算法① 徐 彪 1, 蒋朝阳 2, 朱健铭 3, 陈真诚 3 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) 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. 关键词: 智能轮椅; 路径规划; 虚拟力场; A*算法 Path Planning Algorithm for Smart Wheelchair Indoor Navigation XU Biao1, JIANG Zhao-Yang 2, ZHU Jian-Ming3, CHEN Zhen-Cheng3 1(School of Electronic Engineer and Automatic, Guilin University of Electronic Technology, Guilin 541004, China) 2(Faculty of Modern Agriculture Engineering, Kunming University of Science and Technology, Kunming 650500, China) 3(School of Life and Environmental Sciences, Guilin University of Electronic Technology, Guilin 541004, China) Abstract: 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 wan