Intelligent wheelchair autonomous walking algorithm and device and medium

The invention provides an intelligent wheelchair autonomous walking algorithm and device and a medium, and the method comprises the steps of collecting an image around a wheelchair, and carrying out the segmentation of the image; based on the segmented image, judging whether an obstacle exists in front of the wheelchair through combination of a lightweight neural network MobileNet and an SSD target detection algorithm, and if yes, obtaining the position of the obstacle and the distance between the obstacle and the wheelchair; obtaining wheelchair position information based on positioning; and controlling the walking of the wheelchair through a behavior competition method based on the wheelchair position information and the obstacle information. Autonomous movement of the wheelchair is achieved, dependence on people is reduced, under the extremely complex condition, people need to participate in auxiliary control, and very important research value and significance are achieved. 本发明提供了一种智能轮椅自主行走算法、装置及介质，该方法包括：采