【摘要】 面向老年和残障人群出行需求，本文在自主研发的轮椅基础上，提出了一种具有补偿机制的电动轮椅自主跟随与避障双层结构控制系统。外层采用最小二乘优化的三边定位算法实现定位。当跟随信号消失后，引入补偿目标点，实现对电动轮椅跟随速度大小的控制。内层利用模糊控制算法实现多传感器信息融合，有效解决了电动轮椅跟随与避障过程中的方向控制问题。基于开发的电动轮椅控制器完成了多种跟随和避障测试实验。实验结果表明：在跟随速度1.3 m/s,跟随距离2～2.5 m的基础上，电动轮椅能够实现平滑地速度控制并跟随目标。在最大1.6 m/s行驶速度下，电动轮椅能够对可能发生碰撞的移动障碍物实现急停，安全距离大于0.2 m,保证了在移动跟随中的安全性要求。更多还原

【Abstract】 To meet travel needs of elderly and disabled people, an electric wheelchair autonomous following and obstacle avoidance two-layer structure control system with compensation mechanism on the basis of self-developed wheelchairs is proposed.The outer layer uses least squares optimized trilateral positioning algorithms to realize positioning.When following signal disappeared, a compensation target point is introduced to realize control of the electric wheelchair following speed magnitude.The inner layer uses fuzzy control algorithm to achieve multi-sensor information fusion, effectively solve directional control problem in following and obstacle avoidance process of electric wheelchairs.Based on the developed wheelchair controller, multiple following and obstacle avoidance experiments are completed.The experimental results show that smooth speed control of electric wheelchair can be achieved and follows the target on the basis of following speed of 1.3 m/s and following distance of 2～2.5 m.The electric wheelchair can achieve emergency stops against moving obstacles that may collide at a maximum speeds of 1.6 m/s with a safety distance of more than 0.2 m, ensuring the safety requirements during movement.更多还原