In this article, a new design of a wearable navigation support system for blind and visually impaired people (BVIP) is proposed. The proposed navigation system relies primarily on sensors, real-time processing boards, a fuzzy logic-based decision support system, and a user interface. It uses sensor data as inputs and provides the desired safety orientation to the BVIP. The user is informed about the decision based on a mixed voice–haptic interface. The navigation aid system contains two wearable obstacle detection systems managed by an embedded controller. The control system adopts the Robot Operating System (ROS) architecture supported by the Beagle Bone Black master board that meets the real-time constraints. The data acquisition and obstacle avoidance are carried out by several nodes managed by the ROS to finally deliver a mixed haptic–voice message for guidance of the BVIP. A fuzzy logic-based decision support system was implemented to help BVIP to choose a safe direction. The system has been applied to blindfolded persons and visually impaired persons. Both types of users found the system promising and pointed out its potential to become a good navigation aid in the future.

中文翻译：

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集成模糊决策支持系统的盲人和视障人士可穿戴辅助设备的设计与开发

在本文中，提出了一种针对盲人和视障人士 (BVIP) 的可穿戴导航支持系统的新设计。拟议的导航系统主要依赖于传感器、实时处理板、基于模糊逻辑的决策支持系统和用户界面。它使用传感器数据作为输入，并为 BVIP 提供所需的安全方向。基于混合语音-触觉界面通知用户有关决定。导航辅助系统包含两个由嵌入式控制器管理的可穿戴障碍物检测系统。控制系统采用Beagle Bone Black主板支持的机器人操作系统（ROS）架构，满足实时性约束。数据采集​​和避障由 ROS 管理的多个节点执行，最终传递混合触觉 - 语音消息用于 BVIP 的指导。实施了基于模糊逻辑的决策支持系统，以帮助 BVIP 选择安全方向。该系统已应用于蒙眼人士和视障人士。两种类型的用户都认为该系统很有前途，并指出它在未来成为一种很好的导航辅助工具的潜力。