INTELLIGENT WHEEL CHAIR CONTROL METHOD BASED ON BRAIN COMPUTER INTERFACE AND AUTOMATIC DRIVING TECHNOLOGY

摘要

Disclosed is an intelligent wheel chair control method based on a brain computer interface and an automatic driving technology. The method comprises the following steps: acquiring current pictures by webcams to perform obstacle localization; generating candidate destinations and waypoints for path planning according to the current obstacle information; performing self-localization of the wheel chair; selecting a destination by a user through the brain computer interface (BCI); planning an optimal path according to the current position of the wheel chair as a starting point and the destination selected by the user as an end point in combination with the waypoints; calculating a position error between the current position of the wheel chair and the optimal path as the feedback of a;PID path tracking algorithm; and calculating a reference angular velocity and linear velocity by means of the PID path tracking algorithm and transmitting them to a PID motion controller, converting odometry data from encoders into current angular and linear velocities as a feedback of the PID motion controller, and controlling the driving of the wheel chair in real time to the destination. The intelligent wheel chair control method greatly relieves the mental burden of a user, can adapt to changes in the environment, and improves the self-care ability of patients with severe paralysis.

主权项

1. An intelligent wheel chair control method based on a brain computer interface and an automatic driving technology, characterized by comprising the sequential steps:
S1. acquiring pictures about current environment information from each webcam which is fixed on a wall face, and then using an image processing method to localize obstacles according to the acquired pictures; S2. generating candidate destinations and waypoints for path planning according to the current obstacle information; S3. performing the self-localization of the wheel chair; S4. selecting a destination by a user through the brain computer interface; S5. planning an optimal path by means of an A′ algorithm according to the current position of the wheel chair as a starting point and the destination selected by the user as an end point in combination with the waypoints which are generated after the obstacle localization; S6. calculating a position error between the current position of the wheel chair and the optimal path after acquiring the optimal path, using the position error to be a feedback of a PID path tracking algorithm, and then calculating a reference angular velocity and linear velocity by means of the PID path tracking algorithm; and S7. inputting the reference angular velocity and linear velocity to a PID motion controller, obtaining odometry data from odometers attached to the left and right wheels of the wheel chair, then converting the odometry data into current angular velocity and linear velocity as a feedback of the PID motion controller so as to adjust a control signal of the wheel chair, and controlling the driving of the wheel chair in real time to the destination.