Wheelchair Control System Based on Sitting Posture Sensing and Autonomous Obstacle Avoidance

To improve the wheelchair's safety and comfort, an intelligent wheelchair control system was designed, which can not only control wheelchair with the help of users'behavior habit, for example, users'sitting postures, but can also autonomously avoid obstacles according to the information of surrounding environment. By giving out the layout of the single-point-pressure-sensor, the support vector machine (SVM) was used to obtain sitting posture recognition, then the surrounding environment was monitored by fusing the information of lidar and the ultrasonic sensor. Finally, a three-dimensional fuzzy controller was designed to achieve wheelchair autonomous obstacle avoidance by inputting environment categories, sitting posture categoriesand obstacle distance, and outputting wheelchair speeds and rotation angles. Experiments show that the system has high recognition accuracy and stable obstacle avoidance control, and can provide a safe, comfortable and intelligent wheelchair control scheme for users.