WAD project where attractor dynamics aids wheelchair navigation

The WAD project is aimed to provide limited autonomy to electrical wheelchairs. The primary focus is to provide a secure obstacle avoidance behavior based on infrared distance sensors which generate contributions to the heading direction dynamics that steers the wheelchair away from obstructions. Moreover, the attractor dynamics approach is used to integrate the obstacle avoidance behavior to a user defined target acquisition behavior, in which the direction and the distance to the target are indicated by the user at different points in time.