Intelligent wheelchair indoor navigation based on ROS

摘要

The traditional intelligent wheelchair relies on separate designed control system,and its versatility is poor. Focusing on those problems,a ROS( robot operating system) based intelligent wheelchair control scheme is proposed. Using the platform edge of ROS,the research strength will be focused on the development of new functions,which can improve the efficiency of study. Due to the high accuracy on the distance measurement of laser sensor,in this plan,laser range finder is used as the main sensor,and the extended Kalman filter( EKF) based simultaneous localization and mapping( SLAM) is used to create maps. A ROS based navigation software system is designed; it can be divided into the low level motor control and the upper navigation function modules. A server / client program is designed for the two parts through an Ad-hoc network. The ROS based voice feature package is configured to complete the voice-control navigation. After many times of experiments,the results prove that this scheme can build maps that are consistent well with the actual environment,and successfully complete the voice-control navigation task of intelligent wheelchair.