The Application of Particle Filtering in Dynamic Locating and Tracking of Intelligent Wheelchair

摘要

In order to reduce dynamic positioning errors of intelligent wheelchair efficiently, this paper discusses the application of particle filter. At first, a localization algorithm of an intelligent wheelchair by using CSS ranging is proposed. Then the principle of standard particle filter was introduced and a corresponding filtering model of dynamic positioning was set up in this paper. The filtering algorithm was programmed on the intelligent wheelchair prototype which based on ARM chip as hardware platform, the experimental results showed that the filtering algorithm applied for dynamic positioning of intelligent wheelchair overcame the problem that kalman filter and extended kalman filter is weak for nonlinear state, reducing dynamic positioning error by 27.8% compared to trilateration.