Control of indoor-operated autonomous wheelchair

The present paper concerns an algorithm for navigation of a wheelchair in the home environment. The user sets the movement task by designation of the end position and orientation of the wheelchair only and the wheelchair controller automatically plans the path from the current position to the goal. The algorithm does not require initially entered map of the home. After installation at user's home, the wheelchair initiates a procedure for building a map of the unknown environment that allows it to generate collision-free path from the starting point to the target. A strategy for recovering from trap situations is also commented. A special simulator ROSI (RObotic SImulator) was designed for computer testing of the proposed algorithm.