基于ROS的共控轮椅，提升残障人士在室内环境中的自主出行体验。
CoNav Chair: Design of a ROS-based Smart Wheelchair for Shared Control Navigation in the Built Environment
- 采用共控导航算法与障碍避让，实现人机协同决策。
- 在典型室内环境中验证了硬件与软件设计的有效性。
- 适合关注无障碍出行与人机协作的科研与工程人员。
随着全球残障人士数量逐年增加，对辅助移动设备以实现独立生活与社会融合的需求日益增长。轮椅是残障人士在室内外环境中通行的主要工具。然而，现有电动轮椅常难以满足用户操作需求，使用者可能感到操作困难。当前机器人轮椅研究多聚焦于完全自主或增强手动控制，可能导致效率下降和用户信任不足。为此，本文提出一种基于机器人操作系统（ROS）的智能轮椅CoNav Chair，集成共控导航算法与障碍避让功能，在支持残障人士的同时提升人机协作效率与信任度。系统由软硬件组件构成。在典型室内社交环境中进行的实验结果表明，该智能轮椅的软硬件设计具有良好的性能与有效性。整体设计有助于增强用户信任与自主性，这对辅助移动技术在建筑环境中的接受度至关重要。
原文摘要 · Abstract (English)
With the number of people with disabilities (PWD) increasing worldwide each year, the demand for mobility support to enable independent living and social integration is also growing. Wheelchairs commonly support the mobility of PWD in both indoor and outdoor environments. However, current powered wheelchairs (PWC) often fail to meet the needs of PWD, who may find it difficult to operate them. Furthermore, existing research on robotic wheelchairs typically focuses either on full autonomy or enhanced manual control, which can lead to reduced efficiency and user trust. To address these issues, this paper proposes a Robot Operating System (ROS)-based smart wheelchair, called CoNav Chair, that incorporates a shared control navigation algorithm and obstacle avoidance to support PWD while fostering efficiency and trust between the robot and the user. Our design consists of hardware and software components. Experimental results conducted in a typical indoor social environment demonstrate the performance and effectiveness of the smart wheelchair hardware and software design. This integrated design promotes trust and autonomy, which are crucial for the acceptance of assistive mobility technologies in the built environment.
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