计算机工程2011，Vol.37Issue(16)：197-199,3.DOI:10.3969/j.issn.1000-3428.2011.16.067
基于视觉导航的智能轮椅控制系统
Intelligent Wheelchair Control System Based on Vision Navigation
摘要
Abstract
An Intelligent Wheelchair(IW) control system based on an embedded system is developed to achieve vision navigation by tracking marked-line economically and effectively. In the system, image data compression technology is used to solve the limited resources and the restricted running speed of embedded system, an adaptive threshold extraction algorithm for marked-line is proposed to realize threshold extraction in different light conditions and a fuzzy Proportional-Integral-Derivative(PID) control algorithm is introduced to implement stability control for IW path tracking. Meanwhile, technology fusion is adopted to ensure the safety of IW operation by combining with other technologies such as ultrasonic obstacle avoidance and manual operation intervention. Experimental results show that the IW operates safely and stably under the different environments.关键词
智能轮椅/视觉导航/比例-积分-微分控制/融合/嵌入式系统Key words
Intelligent Wheelchair(IW)/vision navigation/Proportional-Integral-DerivativefPID) control/fusion/embedded system分类
信息技术与安全科学引用本文复制引用
夏嘉廷,余忠华,刘继忠..基于视觉导航的智能轮椅控制系统[J].计算机工程,2011,37(16):197-199,3.基金项目
江西省科技支撑计划基金资助项目(2008BA00400) （2008BA00400）
