Optimization of an Intelligent Wheelchair: LiDAR and Camera Vision for Obstacle Avoidance

Abstract

According to the Wheelchair Foundation, over 131 million individuals depend on a wheelchair [1]. Wheelchairs drastically improve the quality of life by providing partially disabled persons with mobility. Moreover, wheelchairs have become a central component of many hospitals, necessary to transport patients. However, manual wheelchairs limit users’ or helpers’ freedom by requiring direct actuation, either by turning the wheels or pushing the wheelchair. Electric wheelchairs allow users to navigate a wheelchair through a single control mechanism to improve flexibility. Autonomous wheelchairs are the next step in improving the quality of life and further enhancing user freedom [2]. This paper presents the optimization of an automated wheelchair implementing unique and novel path planning and localization indoors. The results illustrate the implementation of camera vision with LiDAR for obstacle avoidance and advancements in a modular infrastructure.