上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

动态环境下智能轮椅的路径规划与导航

王丽军，王景川，陈卫东
  

  1. (上海交通大学 电子信息与电气工程学院， 上海 200240)
  • 收稿日期:2010-01-25 修回日期:1900-01-01 出版日期:2010-11-30 发布日期:2010-11-30

Path Planning and Navigation for Intelligent Wheelchair in Dynamic Environments

WANG Lijun,WANG Jingchuan,CHEN Weidong
  

  1. (School of Electronic, Information and Electric Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-01-25 Revised:1900-01-01 Online:2010-11-30 Published:2010-11-30

摘要： 针对智能轮椅应用的动态环境，提出了一种自主规划和导航算法.采用分层递阶体系结构，设计了基于地图匹配的自定位方法，将路径全局预规划和在线重规划相结合，获得动态环境下导航的次优路径，并且设计了基于局部观测地图的行为控制与行为选择算法.智能轮椅样机的实验结果表明，所提出的方法在动态环境下具有较好的路径优化特性和安全性.

关键词: 智能轮椅, 路径规划, 导航, 动态环境, 行为控制

Abstract: A planning and navigation algorithm was proposed for intelligent wheelchair in dynamic environments. Having a hierarchical structure, this algorithm adopted a selflocaliztion method based on mapmatching, combined preplanning with online replanning for getting a semioptimal path in dynamic environments, and designed a behaviorbased control and behaviorselection method based on the local scan map. The experimental results of the intelligent wheelchair prototype show that the proposed algorithm can get an optimized path and improve safety in dynamic environments.

中图分类号: