| 动态环境下智能轮椅的路径规划与导航 |
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| 引用本文： | 王丽军，王景川，陈卫东.动态环境下智能轮椅的路径规划与导航[J].上海交通大学学报,2010,44(11):1524-1528. |
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| 作者姓名： | 王丽军，王景川，陈卫东 |
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| 作者单位： | (上海交通大学 电子信息与电气工程学院， 上海 200240)
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| 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.
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| 关 键 词： | 智能轮椅 路径规划 导航 动态环境 行为控制 |
| 收稿时间： | 2010-1-25 |
Path Planning and Navigation for Intelligent Wheelchair in Dynamic Environments |
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WANG Li jun,WANG Jing chuan,CHEN Wei dong
.Path Planning and Navigation for Intelligent Wheelchair in Dynamic Environments[J].Journal of Shanghai Jiaotong University,2010,44(11):1524-1528. |
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| Authors: | WANG Li jun WANG Jing chuan CHEN Wei dong
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| Institution: | (School of Electronic, Information and Electric Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
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| 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. |
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