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湖 北 工 业 大 学 硕 士 学 位 论 文
II
Abstract
At present, China has gradually entered the aging society. At the same time, due to
the frequent accidents and the common existence of patients with mobility inconvenience,
the demand for intelligent wheelchair is increasing. With the improvement of social
intelligence, the automatic obstacle avoidance of intelligent wheelchair becomes more
and more important. In order to solve this problem, this paper proposes a motion control
automatic obstacle avoidance algorithm based on ultrasonic sensor, and applies it to
intelligent wheelchair, which has important research and engineering significance. This
paper studies from the following aspects.
(1) According to the analysis of users and demand of intelligent wheelchair, the
performance index of obstacle avoidance system of intelligent wheelchair is proposed.
According to the mechanical structure of the intelligent wheelchair, the overall structure
of the intelligent wheelchair obstacle avoidance system is designed.
(2) Aiming at the problem of error in ultrasonic ranging, the error sources of
ultrasonic ranging are studied, and the influence of ambient temperature and measured
distance on ultrasonic ranging results is analyzed. Aiming at the error sources, the error
correction algorithm of ultrasonic ranging is proposed, which can correct the
measurement results under arbitrary distance and arbitrary temperature within the
measurement range, and improve the accuracy of ultrasonic ranging Finally, the adaptive
progressive filter is used to remove the sensor noise and outliers, which further improves
the accuracy of the intelligent wheelchair to obtain the obstacle information.
(3) Neural network is very helpful to improve the stability and adaptability of
intelligent robot system, but the traditional neural network has low learning efficiency
and slow convergence speed in its training process. To solve this problem, an automatic
obstacle avoidance algorithm based on reinforcement learning Saras learning algorithm
and dynamic Elman neural network is proposed to improve its learning efficiency, so as
to improve the automatic obstacle avoidance performance of intelligent wheelchair.
(4) In order to solve the problems of fast speed, large angle, which lead to wheelchair
rollover and slow speed, small angle and unable to avoid obstacles in time, the
relationship between the steering angle and speed of intelligent wheelchair is studied and
analyzed, and a brushless DC motor braking control method based on intention
recognition is designed. The speed control of wheelchair automatic obstacle avoidance is
realized by fuzzy control theory The safety of wheelchair automatic obstacle avoidance
is improved.
(5) Combined with the mechanical structure of intelligent wheelchair, the automatic
obstacle avoidance system of intelligent wheelchair is designed, and the hardware and
software of each part are researched and designed. According to the design of the
intelligent wheelchair automatic obstacle avoidance system, the motion control method
and automatic obstacle avoidance algorithm of intelligent wheelchair are simulated by
MATLAB. The experimental results verify the feasibility of the design, improve the
湖 北 工 业 大 学 硕 士 学 位 论 文
III
automatic obstacle avoidance ability of the intelligent wheelchair, and lay the foundation
for the subsequent automatic obstacle avoidance system.
Keywords: Intelligent wheelchair, motion control, neural network,automatic obstacle
avoidance, MATLAB simulation
湖 北 工 业 大 学 硕 士 学 位 论 文
IV
目 录
摘 要 .............................................................. I
Abstract ............................................................. II
目 录 ............................................................. IV
第 1 章 绪论 ........................................................... 7
1.1 研究背景与意义 ................................................. 7
1.2 智能轮椅国内外研究现状 ......................................... 8
1.2.1 国内研究现状 ............................................. 8
1.2.2 国外研究现状 ............................................. 9
1.3 智能轮椅的避障技术研究现状 ..................................... 10
1.4 论文主要研究内容及章节安排 ..................................... 11
第 2 章 智能轮椅避障系统总体设计 ....................................... 13
2.1 智能轮椅性能指标及机械结构 ..................................... 13
2.1.1 智能轮椅性能指标 ........................................ 13
2.1.2 机械结构组成 ............................................ 13
2.1.3 智能轮椅功能设计 ........................................ 14
2.2 避障系统总体结构设计 ........................................... 16
2.3 本章小结 ....................................................... 17
第 3 章 超声波传感器误差分析及信息处理 ................................. 18
3.1 超声波传感器 ................................................... 18
3.2 超声波传感器标定及误差分析 ..................................... 19
3.3 传感器噪声及野点去除 ........................................... 21
3.4 本章小结 ....................................................... 22
第 4 章 基于强化学习理论的自动避障算法设计 ............................. 23
4.1 强化学习理论 .................................................. 23
4.1.1 原理与模型 .............................................. 23
4.1.2 主要算法 ................................................ 24
4.2 神经网络 ....................................................... 26
4.2.1 产生与发展 .............................................. 26
湖 北 工 业 大 学 硕 士 学 位 论 文
V
4.2.2 在机器人技术中的应用 .................................... 26
4.3 控制算法设计 .................................................. 27
4.3.1 Saras 学习算法 .......................................... 27
4.3.2 Elman 网络 .............................................. 27
4.3.3 避障算法设计 ............................................ 28
4.4 本章小结 ...................................................... 30
第 5 章 智能轮椅自动避障运动控制方法 ................................... 31
5.1 转向制动意图分析 ............................................... 31
5.1.1 转向制动意图分类 ........................................ 31
5.1.2 转向制动意图与制动强度的关系 ............................. 31
5.2 模糊控制器设计 ................................................ 32
5.2.1 输入变量与输出变量的模糊化与标定 ......................... 32
5.2.2 模糊控制规则的制定 ...................................... 33
5.3 基于意图识别的避障运动控制方法 ................................ 34
5.4 本章小结 ...................................................... 34
第 6 章 避障系统软硬件设计及仿真分析 ................................... 35
6.1 智能轮椅避障系统硬件设计 ....................................... 35
6.1.1 STM32 控制器 ............................................ 35
6.1.2 行走电机驱动模块 ........................................ 36
6.1.3 推杆电机驱动模块 ........................................ 37
6.1.4 电源模块 ................................................ 38
6.1.5 CAN 通讯电路 ............................................ 39
6.2 智能轮椅避障系统软件设计 ....................................... 39
6.2.1 避障系统主程序设计 ...................................... 40
6.2.2 中断子程序 .............................................. 40
6.2.3 功能程序设计 ............................................ 41
6.3 实验仿真及分析 ................................................. 49
6.3.1 自动避障算法仿真实验分析 ................................. 49
6.3.2 避障运动控制系统建模及仿真分析 ........................... 50
6.4 本章小结 ....................................................... 52
第 7 章 总结与展望 .................................................... 53
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