CN109568034A - A kind of intelligent wheel chair and its application method based on ROS - Google Patents
A kind of intelligent wheel chair and its application method based on ROS Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- A—HUMAN NECESSITIES
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- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
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- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/16—Touchpads
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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Abstract
The invention discloses a kind of intelligent wheel chairs based on ROS, including wheelchair main body, the intelligent wheel chair includes microphone, host computer, battery pack, control circuit, servo motor, Kinect visual sensor, LCD display, the Kinect visual sensor, the control circuit, the microphone respectively with the host computer communication connection, the LCD display and the host computer communication connection, the host computer, the servo motor are electrically connected with the battery pack respectively, the control circuit and the servo motor communication connection.Invention additionally discloses a kind of application methods of intelligent wheel chair based on ROS, realize intelligent wheel chair independent navigation, the functions such as voice control.
Description
Technical field
The present invention relates to a kind of intelligent wheel chair and its application method based on ROS, belongs to robot application technology field.
Background technique
In recent years, with the continuous development of science and technology, especially robot technology rapidly develops, and mobile robot is
More and more fields are applied to, people's lives are greatly facilitated.Today's society, life stress increase day by day, and people need to take
Business robot be capable of providing more quality services and liberate labour, therefore develop intelligent wheel chair is obtained based on ROS can
It brings great convenience for user.It is shown according to existing market data, is automatically moved in wheelchair numerous, be largely to control manually
System or some abilities without solving emergency event, lack the mobile robot wheelchair of human-computer interaction.Not for these
Foot place, developing a intelligent wheel chair with interactive capability abundant and independent navigation ability becomes social development
Inexorable trend.
Summary of the invention
It is an object of the present invention to overcome defect of the existing technology, propose a kind of intelligent wheel chair based on ROS and its
Application method realizes robot self-navigation, and voice control is mobile, reinforces human-computer interaction, the functions such as solution of emergent event.
To achieve the above object, the present invention adopts the following technical scheme: a kind of intelligent wheel chair based on ROS, including wheelchair
Main body, which is characterized in that the intelligent wheel chair includes microphone, host computer, battery pack, control circuit, servo motor, Kinect
Visual sensor, LCD display, the Kinect visual sensor, the control circuit, the microphone respectively with it is described on
Position machine communication connection, the LCD display and the host computer communication connection, the host computer, the servo motor respectively with
The battery pack electrically connects, the control circuit and the servo motor communication connection.
As a kind of preferred embodiment, Kinect visual sensor, control circuit, microphone pass through USB serial ports respectively
With host computer communication connection, the Touch interface of LCD display and the USB interface communication connection of host computer.
As a kind of preferred embodiment, servo motor is installed at the driving wheel of wheelchair main body, for providing power.
As a kind of preferred embodiment, host computer, battery pack, control circuit are all set to the lower part of wheelchair main body, wheat
Gram wind is set to the rear portion of wheelchair main body.
As a kind of preferred embodiment, LCD display is set to position of the front of wheelchair main body in front of human body.
As a kind of preferred embodiment, host computer is operated using miniature PC and equipped with Ubuntu operating system and ROS
System.
As a kind of preferred embodiment, Kinect visual sensor is set to the bottom below the seat of wheelchair main body.
As a kind of preferred embodiment, control circuit includes motor control panel, encoder, data acquisition module, anti-collision
Hit sensor, the output end of anti-collision sensor, the output end of Kinect visual sensor, microphone output end respectively with number
According to the input terminal communication connection of acquisition module, the output end of data acquisition module and the input terminal communication connection of encoder, coding
The output end of device and the input terminal communication connection of motor control panel, the output end of motor control panel and the input terminal of servo motor are logical
News connection, the input terminal of LCD display are electric with the output end of Kinect visual sensor, the output end of microphone, servo respectively
The output end communication connection of machine.
The present invention also proposes a kind of application method of intelligent wheel chair based on ROS, which comprises the steps of:
Step SS1: initialization starts host computer, opens Kinect visual sensor, and automatic load initialization life is arranged
It enables；
Step SS2: host computer obtains the information of microphone and Kinect visual sensor, is watched by control circuit control
It is mobile to take motor band wheelchair main body, Kinect visual sensor obtains indoor map, and preservation map is into host computer；
Step SS3: the two-dimensional map of foundation is loaded in the 3D visualization tool RVIZ of host computer, LCD is shown in and shows
In screen, after determining initial point, target point is set in LCD display；
Step SS4: host computer uses the navigation function packet of ROS operating system, completes the road in global scope
Diameter planning, cooks up an accessible route from starting point to target point；
Step SS5: when wheelchair main body does not encounter not shown barrier on map in step SS3, then according to step
The route walking that SS4 is cooked up, reaches aiming spot, completes navigation, and task terminates, and is transferred to step SS7, if wheelchair main body is met
Into step SS3 on map when not shown barrier, then step SS6 is transferred to；
Step SS6: host computer realizes local paths planning with the base_local_planner packet of ROS operating system,
An accessible track from starting point to target point is cooked up in real time, is walked by new track, aiming spot is reached, completes to lead
Boat, task terminate, and are transferred to step SS7；If encountering barrier before reaching target point again, step SS6 is repeated；
Step SS7: it repeats step SS5 to step SS7 and carries out next subtask.
As a kind of preferred embodiment, step SS6 further include: base_local_planner packet uses Trajectory
Rollout and Dynamic Window approaches algorithm calculate in wheelchair main body each period the speed that should travel and
Angle；The design method of Trajectory Rollout and Dynamic Window approaches algorithm is as follows: step
SS61: the current state of sampling wheelchair main body, i.e. speed and angle；Step SS62: for the speed of each sampling, wheelchair is calculated
Main body travels the state after a period of time with the speed, obtains the route of a traveling；Step SS63: using whether barrier can be hit
Hindering object and required time as evaluation criterion is the marking of a plurality of route；Step SS64: according to marking as a result, selection is optimal
Path；Step SS65: repeating step SS61 to step SS64, until reaching target point.
Advantageous effects of the invention: first, the present invention realizes the function of wheelchair self-navigation, voice control,
Reinforce human-computer interaction function, improves the ability of solution of emergent event；Second, the present invention is using currently a popular robot manipulation system
Unite ROS, due to the open source of itself, so that robot software's system is to the more adaptable of environment；Third, the present invention use
Obstacle information in the laser detection environment of Kinect visual sensor, detection accuracy is high, and speed is fast, strong antijamming capability,
Obtain depth image；4th, the present invention uses LCD touch screen display, and user can check other information, strengthen man-machine
Interactive function, and Expansion development can also be carried out；5th, the present invention uses global path planning and office during the navigation process
The mode that portion's path planning combines can effectively realize the function of robot automatic obstacle avoiding during following.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the preferred embodiment of intelligent wheel chair based on ROS of the invention.
Fig. 2 is a kind of flow chart of the application method of intelligent wheel chair based on ROS of the invention.
Meaning marked in the figure: 1- wheelchair main body, 2- microphone, 3- host computer, 4- battery pack, 5- control circuit, 6- are watched
Take motor, 7-Kinect visual sensor, 8-LCD display screen.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Fig. 1 the structural schematic diagram of the preferred embodiment of a kind of intelligent wheel chair based on ROS of the invention, this
Invention proposes that a kind of intelligent wheel chair based on ROS, including wheelchair main body 1, intelligent wheel chair include microphone 2, host computer 3, battery
Group 4, control circuit 5, servo motor 6, Kinect visual sensor 7, LCD display 8, Kinect visual sensor 7, control electricity
Road 5, microphone 2 respectively with 3 communication connection of host computer, LCD display 8 and 3 communication connection of host computer, host computer 3, servo motor
6 electrically connect with battery pack 4 respectively, control circuit 5 and 6 communication connection of servo motor.
As a kind of preferred embodiment, Kinect visual sensor 7, control circuit 5, microphone 2 are gone here and there by USB respectively
Mouth and 3 communication connection of host computer, the Touch interface of LCD display 8 and the USB interface communication connection of host computer 3.
As a kind of preferred embodiment, servo motor 6 is installed at the driving wheel of wheelchair main body 1, for providing power.
As a kind of preferred embodiment, host computer 3, battery pack 4, control circuit 5 are all set under wheelchair main body 1
Portion, microphone 2 are set to the rear portion of wheelchair main body 1.
As a kind of preferred embodiment, LCD display 8 is set to position of the front of wheelchair main body 1 in front of human body
It sets, human-computer interaction is more preferable.
As a kind of preferred embodiment, host computer 3 is operated using miniature PC and equipped with Ubuntu operating system and ROS
System.
As a kind of preferred embodiment, Kinect visual sensor 7 is set to the bottom below the seat of wheelchair main body 1
Portion.
As a kind of preferred embodiment, control circuit 5 includes motor control panel, encoder, data acquisition module, anti-collision
Hit sensor, the output end of anti-collision sensor, the output end of Kinect visual sensor 7, microphone 2 output end respectively with
The input terminal communication connection of data acquisition module, the output end of data acquisition module and the input terminal communication connection of encoder are compiled
The code output end of device and the input terminal communication connection of motor control panel, the input of the output end and servo motor 6 of motor control panel
End communication connection, the input terminal of LCD display 8 respectively with the output end of Kinect visual sensor 7, microphone 2 output end,
The output end communication connection of servo motor 6；The anti-collision sensor can protect intelligent wheel chair of the invention to avoid colliding,
Safety is good.
The present invention also proposes a kind of application method of intelligent wheel chair based on ROS, which comprises the steps of:
Step SS1: initialization starts host computer 3, opens Kinect visual sensor 7, and automatic load initialization life is arranged
It enables；
Step SS2: host computer 3 obtains the information of microphone 2 and Kinect visual sensor 7, is controlled by control circuit 5
Servo motor 6 processed is mobile with wheelchair main body 1, and Kinect visual sensor 7 obtains indoor map, saves map to host computer 3
In；
Step SS3: the two-dimensional map of foundation is loaded in the 3D visualization tool RVIZ of host computer 3, LCD is shown in and shows
In screen 8, after determining initial point, target point is set in LCD display 8；
Step SS4: host computer 3 completes the road in global scope with the navigation function packet of ROS operating system
Diameter planning, cooks up an accessible route from starting point to target point；
Step SS5: when wheelchair main body 1 does not encounter not shown barrier on map in step SS3, then according to step
The route walking that SS4 is cooked up, reaches aiming spot, completes navigation, and task terminates, and step SS7 is transferred to, if wheelchair main body 1
It encounters in step SS3 on map when not shown barrier, is then transferred to step SS6；
Step SS6: host computer 3 realizes local paths planning with the base_local_planner packet of ROS operating system,
An accessible track from starting point to target point is cooked up in real time, is walked by new track, aiming spot is reached, completes to lead
Boat, task terminate, and are transferred to step SS7；If encountering barrier before reaching target point again, step SS6 is repeated；
Step SS7: it repeats step SS5 to step SS7 and carries out next subtask.
As a kind of preferred embodiment, step SS6 further include: base_local_planner packet uses Trajectory
Rollout and Dynamic Window approaches algorithm calculate in each period of wheelchair main body 1 speed that should travel and
Angle (dx, dy, dtheta velocities), base_local_planner packet data according to the map, is reached by algorithm search
The a plurality of road of target passes through, and is chosen using some evaluation criterions (whether can strikes obstacles, required time etc.) optimal
Path, and calculate required real-time speed and angle；Trajectory Rollout and Dynamic Window
The design method of approaches algorithm is as follows: step SS61: the current state of sampling wheelchair main body 1, i.e. speed and angle；Step
Rapid SS62: it for the speed of each sampling, calculates wheelchair main body 1 and travels the state after a period of time with the speed, obtain one
The route of traveling；Step SS63: using whether strikes obstacles and required time being a plurality of road as evaluation criterion
Line marking；Step SS64: according to marking as a result, selection optimal path；Step SS65: step SS61 to step SS64 is repeated, directly
To arrival target point.
As a kind of preferred embodiment, in step SS3, the dynamic map of 3D visualization tool RVIZ load is shown in
On LCD display 8, and can expanding function contact action is carried out on LCD display 8.
The meaning of technical term is as follows in the application:
ROS operating system: ROS--- (Robot Operating System) is robot software's platform, it can be
The function of disparate computers cluster offer similar operations system.The predecessor of ROS is Stanford Artificial Intelligence Lab to support
Stamford intelligent robot STAIR and exchange front yard (switchyard) project established.ROS provides some standard operation system clothes
Business, such as hardware abstraction, underlying device control, common function realization, inter-process messages and data packet management.ROS is to be based on
A kind of figure shape framework is issued so that the process of different node can receive, and is polymerize various information and (such as is sensed, control, state, rule
Draw etc.).ROS mainly supports Ubuntu at present.ROS is segmented into two layers, and low layer is operations described above system layer, high-rise
It is then the various software packages of the realization different function of users' group's contribution, such as positioning is drawn, action planning perceives, simulation
Etc..ROS (low layer) uses BSD licensing, and all is open source software, and can freely be used for research and commercial use.And it is high-rise
User provide Bao Ze various licensing can be used.
Ubuntu operating system: ubuntu operating system is based on Debian release and GNOME desktop environment.Ubuntu's
It aims at and provides a newest while again quite stable operation mainly built-up by free software for general user
System, it can freely be used, and the support with corporations and profession.
3D visualization tool RVIZ:Rviz is a 3D visualization tool in ROS, can be the robot built with code
Model conversation is visual 3D model.
The navigation function packet of ROS: navigation feature packet collection avoids physical rings using the information realization from sensor
Barrier in border, and assume these sensors constantly issued on ROS sensor_msgs/LaserScan message or
Sensor_msgs/PointCloud message.
The base local planner packet of ROS: this packet uses Trajectory Rollout and Dynamic
Window approaches does the Robot Local Navigation moved in plane.Controller is generated using planning and cost map
Mobile foundation is sent to after speed command.The packet is suitable for Omni-mobile and non-omni-directional mobile robots, and robot profile can be with
It is expressed as convex polygon or circle, ROS parameter can be specified in startup file.This packet has carried out ROS encapsulation, inherits
BaseLocalPlanner interface.Base_local_planner packet provides driving pedestal in the controller of planar movement, control
Device processed can connect path planner and robot base.In order to allow robot to reach target position, planner from initial position
Use map building motion profile.On the road mobile to target, planner at least needs to create one around robot can be with
It is expressed as the local evaluation function of coral lattice map.The cost of evaluation function input coral lattice unit.The controller task is exactly to use
This evaluation function, which determines, sends out any speed to robot base.
Speech recognition software packet is in U.S.'s card using CMU Pocket Sphinx, CMU Sphinx (abbreviation Sphinx)
A series of general name of speech recognition systems of Ji Meilong university exploitation.
Anti-collision sensor: crash sensor type, by function point: 1) collide earthquake intensity sensor: for detect automobile by
Impact severity.The sensor is divided by installation site: crash sensor and central collision sensing before left front crash sensor, the right side
Device.2) collision protection sensor: for preventing air bag from generating accidentally distending.Also known as safety collision sensor or detecting collision
Sensor.
By structure point: crash sensor Organic Electricity convolution, electronic type and mercury switch formula.Three types crash sensor
Working principle: 1) electric-mechanic control system formula: so that the on-off of electrical contact is come using mechanical movement and control air bag circuit.It is tied
Structure has bobbin type, roller type and eccentric hammer.2) electronic type: using collision when strain resistor deformation make its resistance change or
Piezo-electric crystal stress makes output voltage variation to control air bag circuit.3) mercury switch formula: the conductive characteristic of mercury is utilized
Control air bag circuit.；
Trajectory Rollout algorithm and Dynamic Window approaches algorithm: it is controlled in robot empty
Between discrete sampling (dx, dy, dtheta)；Forward simulation is done by the discrete point of sampling, is based on robot current state, prediction is such as
The speed of fruit use space sampled point moves a period of time, it may occur that；Assess every track of forward simulation, evaluation criteria
Including (close to obstacle, close to target, close to global path and speed).It abandons illegal track and (is such as likely to be encountered barrier
Track)；Pedestal is issued using the track of highest scoring, and by its corresponding speed；Repeat above step.
Dtheta: the angle changed in the unit time.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of intelligent wheel chair based on ROS, including wheelchair main body (1), which is characterized in that the intelligent wheel chair includes microphone
(2), host computer (3), battery pack (4), control circuit (5), servo motor (6), Kinect visual sensor (7), LCD display
(8), the Kinect visual sensor (7), the control circuit (5), the microphone (2) respectively with the host computer (3)
Communication connection, the LCD display (8) and the host computer (3) communication connection, the host computer (3), the servo motor
(6) it is electrically connected respectively with the battery pack (4), the control circuit (5) and the servo motor (6) communication connection.
2. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that the Kinect visual sensing
Device (7), the control circuit (5), the microphone (2) pass through USB serial ports and the host computer (3) communication connection, institute respectively
State the Touch interface of LCD display (8) and the USB interface communication connection of the host computer (3).
3. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that servo motor (6) installation
At the driving wheel of the wheelchair main body (1), for providing power.
4. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that the host computer (3), described
Battery pack (4), the control circuit (5) are all set to the lower part of the wheelchair main body (1), and the microphone (2) is set to institute
State the rear portion of wheelchair main body (1).
5. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that the LCD display (8) sets
It is placed in position of the front of the wheelchair main body (1) in front of human body.
6. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that the host computer (3) is using micro-
Type PC and be equipped with Ubuntu operating system and ROS operating system.
7. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that the Kinect visual sensing
Device (7) is set to the bottom below the seat of the wheelchair main body (1).
8. a kind of intelligent wheel chair based on ROS according to claim 1, which is characterized in that the control circuit (5) includes
Motor control panel, encoder, data acquisition module, anti-collision sensor, the output end of the anti-collision sensor, Kinect view
The output end of the output end, the microphone (2) of feeling sensor (7) connects with the input end communication of the data acquisition module respectively
Connect, the input terminal communication connection of the output end of the data acquisition module and the encoder, the output end of the encoder with
The input terminal communication connection of the motor control panel, the input of the output end of the motor control panel and the servo motor (6)
End communication connection, the input terminal of the LCD display (8) respectively with the output end of the Kinect visual sensor (7), described
The output end communication connection of the output end of microphone (2), the servo motor (6).
9. a kind of application method using the intelligent wheel chair described in claim 1 based on ROS, which is characterized in that including as follows
Step:
Step SS1: initialization starts host computer (3), opens Kinect visual sensor (7), and automatic load initialization life is arranged
It enables；
Step SS2: host computer (3) obtains the information of microphone (2) and Kinect visual sensor (7), passes through control circuit
(5) control servo motor (6) band wheelchair main body (1) is mobile, and Kinect visual sensor (7) obtains indoor map, saves ground
Scheme in host computer (3)；
Step SS3: the two-dimensional map of foundation is loaded in the 3D visualization tool RVIZ of host computer (3), is shown in LCD display
(8) in, after determining initial point, target point is set in LCD display (8)；
Step SS4: host computer (3) uses the navigation function packet of ROS operating system, completes the path in global scope
Planning, cooks up an accessible route from starting point to target point；
Step SS5: when wheelchair main body (1) does not encounter not shown barrier on map in the step SS3, then according to institute
The route walking that step SS4 is cooked up is stated, aiming spot is reached, completes navigation, task terminates, and step SS7 is transferred to, if wheelchair
Main body (1) encounters in the step SS3 on map when not shown barrier, then is transferred to step SS6；
Step SS6: host computer (3) realizes local paths planning with the base_local_planner packet of ROS operating system, real
When cook up an accessible track from starting point to target point, by new track walk, reach aiming spot, complete to lead
Boat, task terminate, and are transferred to step SS7；If barrier, repeating said steps SS6 are encountered before reaching target point again；
Step SS7: repeating said steps SS5 to step SS7 carries out next subtask.
10. a kind of application method of intelligent wheel chair based on ROS according to claim 9, which is characterized in that the step
SS6 further include: the base_local_planner packet uses Trajectory Rollout and Dynamic Window
Approaches algorithm calculates the speed and angle that should be travelled in wheelchair main body (1) each period；The Trajectory
The design method of Rollout and Dynamic Window approaches algorithm is as follows: step SS61: sampling wheelchair main body
(1) current state, i.e. speed and angle；Step SS62: for the speed of each sampling, wheelchair main body (1) is calculated with the speed
State after degree traveling a period of time, obtains the route of a traveling；Whether step SS63: utilizing can strikes obstacles and institute
The time needed is the marking of a plurality of route as evaluation criterion；Step SS64: according to marking as a result, selection optimal path；Step
SS65: repeating step SS61 to step SS64, until reaching target point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811388264.3A CN109568034A (en) | 2018-11-21 | 2018-11-21 | A kind of intelligent wheel chair and its application method based on ROS |
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| CN201811388264.3A CN109568034A (en) | 2018-11-21 | 2018-11-21 | A kind of intelligent wheel chair and its application method based on ROS |
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