Standard wheelchairs, also known as manual wheelchairs, are still the most commonly used type of wheelchair. However, they are limited to disabled people who can use their upper body to move and control the wheelchair or individuals who depend on the help of caregivers.
The powered wheelchair uses electrical motors. Disabled people who are incapable to self-propel a manual wheelchair can use powered wheelchairs. This technology is suitable for a broader range of people with physical impairment. Nevertheless, also powered wheelchairs still rely on the driver's response. The driver is responsible for detecting dangerous situations and avoiding obstacles.
Robotic wheelchairs use new technologies to extend the capabilities of powered wheelchairs by more intelligent control and navigation.
This document presents an approach for controlling a robotic wheelchair with safety features. A prototype of this wheelchair has been developed at the University of Ljubljana - Laboratory of Robotics and all methods described in this document were tested. Experiments demonstrate that the system can move in complex environments and that it can cross different types of obstacles. The wheelchair can be used by users who have varying degrees of limitations and disabilities in performing daily tasks with less dependency on caregivers or outside help.
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