SLAM-based Cross-a-Door Solution Approach for a Robotic Wheelchair

This paper proposes a solution to the cross-a-door problem in unknown environments for a roboticwheelchair commanded through a Human-Machine Interface (HMI). The problem is solved by a dynamic pathplanning algorithm implementation based on successive frontier points determination. An adaptive trajectorytracking control based on the dynamic model of the robotic wheelchair is implemented on the vehicle to direct thewheelchair motion along the path in a smooth movement. An EKF feature-based SLAM is also implemented onthe vehicle which gives an estimate of the wheelchair pose inside the environment. The SLAM allows the mapreconstruction of the environment for safe navigation purposes. The whole system steers satisfactorily thewheelchair with smooth movements through common doorways which are narrow considering the size of thevehicle. Implementation results validating the proposal are also shown in this work