A docking control method in narrow space for intelligent wheelchair

A docking control method which is based on vision feedback and applied in narrow space is proposed in this paper. By it the intelligent wheelchair can be docked into a U-shaped bed automatically and reconfigured to a flat stationary bed. First, The U-shaped bed is identified and its relative pose to the wheelchair is localized according to some features of specific symbol set on the bed. Second, the improved line trajectory tracking algorithm is performed to make the wheelchair to dock into the bed by using vision feedback and dead reckoning. Experiment results validate the feasibility and effectiveness of the proposed method.