Research on Autonomous Movement of Nursing Wheelchair Based on Multi-sensor Fusion

Abstract

Aiming at the mobility needs of semi-disabled patients, an intelligent nursing wheelchair was designed to realize the autonomous movement of the wheelchair. First, the Cartographer algorithm based on graph optimization was introduced to wheelchairs to locate them in unknown environments. Secondly, multiple sensor information is fused to improve the positioning accuracy. Finally, machine vision, SLAM, path planning and other technologies are applied to the wheelchair to improve its intelligence and interactivity. Finally, an intelligent nursing wheelchair prototype is built, and the autonomous mobility system of the wheelchair is proved to have good robustness through experiments.