A wheelchair differential control method based on the coupling of control signal and environmental information

We propose a wheelchair differential speed control method based on the coupling of control signals and environmental information, which firstly determines the motion state of the wheelchair based on the displacement offset, so as to generate the corresponding control signals; then ultrasound, vision and IMU sensors are used to collect distance, image and angle information respectively, and the environmental information is fused based on fuzzy control to get the integrated environmental factor; Finally, the control signals and Integrated environmental factor are coupled to calculate the expected speeds of the left and right wheels under different motion states. The method fully reflects the environmental information and realizes the full coupling between the control signal and the environmental information, establishes the differential speed model of the wheelchair considering the environmental information, ensures the safety and reliability of the wheelchair during operation, and realizes the intelligent control of the wheelchair.