Design of intelligent wheelchair control system with multi-control integration

Intelligent wheelchair is a kind of service machine which is widely used to help the elderly and the disabled. At present, the common electric wheelchair on the market requires the user to use a joystick to control the movement of the wheelchair, which has certain requirements for the user's operation level and reaction force, and the control mode is difficult to use for users with upper limb disorders. This design combines the characteristics of the existing wheelchair control technology, takes the two-wheeled wheelchair as the control object, adopts the DC motor as the power system, STM32 development board as the lower machine, and realizes the manual control of the wheelchair movement with the rocker control technology. With Raspberry PI 4B as the host computer, ROS as the underlying framework of automatic navigation, and Gmapping algorithm for map construction, map can be accurately created, local path planning and obstacle avoidance, and automatic control of wheelchair movement can be realized. Combined with voice control technology, the design can realize the motion control of intelligent wheelchair with multi-control mode integration, which has good practicability and feasibility.