摘要： 将Android手机与Google卫星地图结合，可作为便携易用的室外导航控制器。利用Google卫星地图提供的环境数据，提出一种基于Android手机进行智能轮椅室外导航的方法。该方法采用扩展卡尔曼滤波进行信息融合，以提高轮椅位姿估算精度，建立基于行为的动态路径规划算法，实现局部未知环境下的路径规划。通过室外导航实验验证了该方法的有效性。
关键词:
智能轮椅,
室外导航,
Android手机,
Google卫星地图,
扩展卡尔曼滤波,
动态路径规划
Abstract: Android mobile phones can be used as navigation controller combined with the Google satellite map. A novel outdoor navigation method is proposed to control the intelligent wheelchair by using the environmental data provided by the Google satellite based on the Android mobile phone for outdoor environmentp. The Extended Kalman Filtering(EKF) information fusion algorithm is used to improve the location and orientation estimation precision of the intelligent wheelchair while the behavior-based dynamic path planning algorithm is presented to achieve the path planning in local unknown environment. This approach is proved to be effective and practical by outdoor navigation experiments.
Key words:
intelligent wheelchair,
outdoor navigation,
Android mobile phone,
Google satellite map,
Extended Kalman Filtering(EKF),
dynamic path planning
中图分类号:
罗元, 孔维熙, 张毅. 基于Android手机的智能轮椅室外导航方法[J]. 计算机工程, 2013, 39(6): 312-315,318.
LUO Yuan, KONG Wei-Xi, ZHANG Yi. Intelligent Wheelchair Outdoor Navigation Method Based on Android Mobile Phone[J]. Computer Engineering, 2013, 39(6): 312-315,318.