动态环境下智能轮椅的规划与导航-控制理论与控制工程专业论文.docxVIP

虚拟激光测距仪单元换为真正的激光测距仪，根据激光测距仪，采用了 基于线段匹配的自定位算法来帮助智能轮椅找到自己的位置；第三，将 图形化编程模块扩展为用包含了若干种导航行为的行为控制模块来规划 整个导航过程，另外将路径规划和重规划的判断也加入到图形化编程模 块，同时保留图形化编程的功能。最后，继续使用地图编辑器来编辑所 需要的几何地图和拓扑地图。 最后，本文设计了自定位和导航实验，验证了所提出智能轮椅导航 系统的有效性，并通过与手操电动轮椅的运动比较得知，采用本方法的 智能轮椅运动消耗时间更短，更安全。 关键字：智能轮椅，导航，规划，仿真，动态环境 PLANNING AND NAVIGATION FOR INTELLIGENT WHEELCHAIR IN DYNAMIC ENVIRONMENTS ABSTRACT At present, the growth of the aging population all over the world becomes more and more rapidly, and the handicapped caused by various disaster and diseases are increasing every year. For offering the elders and the disabled an instrument, which can enhance their mobility and help them join in the society again, the intelligent wheelchair goes out. Planning and navigation is the key point of the research of the intelligent wheelchair. This paper presents a planning and navigation system for intelligent wheelchair in dynamic environments. A graphical programming and simulation platform for mobile robot is introduced. It is a modularized platform, including four modules: graphical programming, map editor, path planning and robot simulation. Each has its own function, and they are connected by CORBA. This platform can do a lot of work: drawing the geometrical map and the topological map; achieving a path based on the topological map; getting a icon-based flowchart programming; simulating the robot motion in 3D environments. Combining all these modules, the robot can realize its navigation. Based on the graphical programming and simulation platform, and the difference between the navigation in real environment and in simulation, we design the planning and navigation system for intelligent wheelchair. Firstly, 3D simulation platform is replaced by intelligent wheelchair. Secondly, self-localization module is added into the system. A LSR (Line Segment Relationship) self-localization is utilized based on a real LRF (Laser Range Finder), which replaces a virtual one. Thirdly, in order to navigate, we added several beha