摘要： 为有效实现基于标识线的轮椅视觉导航功能，设计一种嵌入式智能轮椅控制系统。该系统采用图像数据压缩技术突破存储容量与运行速度的限制，提出标识线自适应阈值提取算法，用于实现不同光线环境下的阈值提取，引入模糊比例-积分-微分控制算法实现对轮椅路径跟踪的稳定控制，通过将超声波避障和手动干预等技术融合到视觉导航控制系统中，保障轮椅运行的安全性。实验结果表明，智能轮椅在各种环境下运行安全稳定。

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

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.

Key words: Intelligent Wheelchair(IW), vision navigation, Proportional-Integral-Derivative(PID) control, fusion, embedded system

中图分类号: 

• TP242