Continuous closed-loop control method based on intelligent adaptive PID algorithm in the walking guidance system for the blind

摘要

In Electronic Travel Aids for the blind, accurately tracking a planned path is the foundation and premise of security guiding. To satisfy the requirement of accuracy and adaptability, a continuous closed-loop control method based on intelligent adaptive PID algorithm is proposed. The dynamic model of the walking guidance system is established, and the control law and the initial parameters of intelligent adaptive PID algorithm are designed considering parameters variability of the human body. To verify the proposed method, both simulations and experiments are conducted. The 3σ tracking errors of simulations stay between -0.3424m and 0.5786m, and the average experimental tracking errors range from -0.3938m to 0.508m.