UML-based design of a robotic wheelchair system for indoor navigation using a visual marker

Service robots have been widely used for supporting the daily life of the elderly and the disabled. A robotic wheelchair system is a good example of the service robots. In this paper, the UML-based design method of a robotic wheelchair using an electric wheelchair and a visual marker is proposed. First, a robotic wheelchair with a visual marker which is capable of achieving a high level of precision in positioning and orienting a mobile robot without geometric features is proposed. Then, door crossing navigation methods are explained, which enable automatic and hybrid navigation of a robotic wheelchair.