Abstract
As the number of handicapped people increases worldwidely, the role of electric wheelchair becomes important to enhance their mobility. In the relevant community, attention is mainly directed to how to solve the problems in motion control for the wheelchair users, and scarce reports have appeared concerning obstacle avoidance of wheelchair. In this paper, we present a new method of obstacle avoidance for omnidirectional intelligent wheelchair bases on multi-sensors information fusion. Distance information acquired from ultrasonic sensors and visual information acquired from monocular camera are combined together, in which optical flow method is employed to distinguish obstacles. Extensive experiments have been conducted in the laboratory. As shown in experimental results that, the developed omnidirectional intelligent wheelchair works correctly and effectively in obstacle avoidance.
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