Autonomous wheelchair navigation in indoor environment based on fuzzy logic controller and intermediate targets

Abstract

The handicapped person needs more autonomy and flexibility in the home or in a hospital. The electric wheelchair can assist those with walking disabilities in getting around. In this paper our purpose is to have an autonomous navigation for the electric wheelchair in the indoor environment. A method based on the use of an intermediate targets before reaching the final target is proposed. The used framework is considered as a structure of a disabled person home. The kinematic model of the robot is determined. Moreover, a fuzzy logic controller is developed. The proposed method is successfully tested in simulations.