碩士 / 國立臺灣科技大學 / 醫學工程研究所 / 106 / This thesis presents an autonomous indoor electric wheelchair control system for the patients with lower-extremity disability. The proposed control system is composed of map creation, wheelchair localization, path planning and obstacle avoidance. The map creation and wheelchair localization were achieved in terms of a 2D LiDar scanning information, and the 2D scanning information was further processed with the Hector simultaneous localization and mapping (SLAM) open source code of the robot operating system (ROS). Moreover, the path planning was realized with a local-optimized rapidly-exploring random tree (LoRRT) in terms of a pre-known map information. During the path following stage, the scanned static and dynamic obstacle information was inferred with the artificial potential field to dynamically produce a collision-free trajectory as well as to return to the desired path. Finally, this work also implemented a human machine interface (HMI) for the users to investigate the information, including map, wheelchair position and heading, navigation path, LiDar scanning information as well as to set the navigation goal position. As a consequence, a hand-made electrical wheelchair in our laboratory was used for the validation platform. The experiments were done to validate the feasibility of the proposed autonomous wheelchair control system.
| Identifer | oai:union.ndltd.org:TW/106NTUS5159017 |
| Date | January 2018 |
| Creators | Kuo-Sheng Chung, 鍾國聖 |
| Contributors | Chung-Hsien Kuo, 郭重顯 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 52 |
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