Autonomous following and obstacle avoidance system for electric wheelchairs in specific scenarios
To meet travel needs of elderly and disabled people,an electric wheelchair autonomous following and obstacle avoidance two-layer structure control system with compensation mechanism on the basis of self-developed wheelchairs is proposed.The outer layer uses least squares optimized trilateral positioning algorithms to realize positioning.When following signal disappeared,a compensation target point is introduced to realize control of the electric wheelchair following speed magnitude.The inner layer uses fuzzy control algorithm to achieve multi-sensor information fusion,effectively solve directional control problem in following and obstacle avoidance process of electric wheelchairs.Based on the developed wheelchair controller,multiple following and obstacle avoidance experiments are completed.The experimental results show that smooth speed control of electric wheelchair can be achieved and follows the target on the basis of following speed of 1.3m/s and following distance of 2～2.5m.The electric wheelchair can achieve emergency stops against moving obstacles that may collide at a maximum speeds of 1.6 m/s with a safety distance of more than 0.2 m,ensuring the safety requirements during movement.
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