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Path Planning and Navigation for Intelligent Wheelchair in Dynamic Environments
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WANG Lijun,WANG Jingchuan,CHEN Weidong
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(School of Electronic, Information and Electric Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
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Abstract A planning and navigation algorithm was proposed for intelligent wheelchair in dynamic environments. Having a hierarchical structure, this algorithm adopted a selflocaliztion method based on mapmatching, combined preplanning with online replanning for getting a semioptimal path in dynamic environments, and designed a behaviorbased control and behaviorselection method based on the local scan map. The experimental results of the intelligent wheelchair prototype show that the proposed algorithm can get an optimized path and improve safety in dynamic environments.
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Received: 25 January 2010
Published: 30 November 2010
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ZHANG Yutenga,YANG Minga,WANG Chunxiangb
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