A Directional Identification Method Based on Position and Posture of Head for an Omni-directional Mobile Wheelchair Robot

摘要

To assist the daily life for the heavy disabled, a new intelligent wheelchair robot has been developed which has the Omni-directional movement function in authors' lab. To conduct the lift support task, the robot must firstly know the intention of users. In this paper, we focus on the research on the recognition of the directional intent of users. Therefore, a new directional identification method based on the head posture of users was proposed. A fuzzy reasoning method is proposed to predict the users' behavior intent based on the principle of Kalman Filter and spatial data fusion. The wheelchair robot also can realize Omni-directional mobile control of the intelligent wheelchair. Prototype were conducted using the proposed developed robot and the results demonstrate its feasibility and efficacy.