An intelligent wheel chair control method based on a brain computer interface and an automatic driving technology. The method comprises the following steps: acquiring current pictures by a network camera to position obstacles; generating a candidate destination and a track point for path planning according to the information of the obstacles; automatically positioning a wheel chair; selecting a destination by a user through the brain computer interface; planning an optimal path according to the track point by using the current position of the wheel chair as a starting point and the destination selected by the user as an end point; calculating a position difference between the current position of the wheel chair and the optimal path to serve as a feedback of a PID path tracking algorithm; and calculating a reference angular speed and a reference linear speed according to the PID path tracking algorithm to be incorporated into a PID motion controller, converting mileage data into current angular speed and linear speed information to serve as a feedback of the PID motion controller, and controlling the wheel chair in real time to drive to the destination. By means of the intelligent wheel chair control method, the mental burden of a user is greatly relieved, the method can adapt to various environments, and the self-care ability of a paralytic patient with serious illness is improved.
INTELLIGENT WHEEL CHAIR CONTROL METHOD BASED ON BRAIN COMPUTER INTERFACE AND AUTOMATIC DRIVING TECHNOLOGY