A Simulation of a Robot Operating System Based Autonomous Wheelchair with Web Based HMI Using Rosbridge

Abstract

Our society is aging, which will result in a dramatic increase in the number of individuals suffering from various types of physical impairment and disability. It is necessary to provide mobility support to these persons so that they can live independently at home and be fully integrated into society. This work aims to show a simulation of a ROS (Robot Operating System)-based autonomous wheelchair, as well as a cloud-based online platform for controlling and tracking the wheelchair's mobility and the patient's location. Which allows the user to remotely control the wheelchair from any Internet-enabled device and location. With an intuitive human-machine interface, this wheelchair may be useful for disabled and elderly individuals. ROS offers a simple and user-friendly architecture that enables the development of complex systems at a cheaper cost. Several simulation results are shown in this paper to demonstrate the practicability and performance of the designed system.