Omnidirectional Autonomous Wheelchair全向自主移动轮椅

Team-led Year-2 project — rudder-wheel chassis with LiDAR-based autonomous navigation.Year 2 团队负责人项目 — 舵轮底盘 + 激光雷达自主导航。

Year-2 design project (ISDN2002, Sep 2024 – Aug 2025): an omnidirectional autonomous wheelchair.

I designed the self-developed steering-wheel modules and the per-wheel kinematics solver. The solver resolves each wheel’s motion vector from the chair’s target velocity while minimizing steering deviation and tire wear. The wheelset went through two generations — a first-gen rocker suspension that was weak under load, replaced by a straight-tiller second generation with higher load capacity — using optical-gate feedback, a topology-optimized structure, and LiDAR-based obstacle avoidance in collaboration with the navigation team.

Year 2 项目（ISDN2002，2024.09 – 2025.08）：全向自主移动轮椅。

我负责自研舵轮模块与逐轮运动学解算设计。解算器根据轮椅目标速度求解每个轮的运动矢量，同时最小化转向偏差与轮胎磨损。轮组历经两代——第一代摇臂悬挂承载不足，第二代改为直立舵柄结构以提升承载与输出——采用光电门反馈、拓扑优化结构，并与导航组合作实现激光雷达自主避障。

Left: full platform. Right: wheel module exploded view.左：轮椅整机；右：轮组爆炸图。
Left: the second-generation drive base — four steering-wheel modules, battery, and control board. Right: CAD of a single steering-wheel module.左：第二代驱动底盘——四个舵轮模块、电池与控制板；右：单个舵轮模块的 CAD。