Study on Navigation Strategy of Intelligent Wheelchair in Narrow Spaces

Research on intelligent wheelchair, which is a kind of home welfare tools and can help the handicapped and elderly people to obtain more independent spaces, is attracting more and more attentions. This paper focuses on the problem of operation difficulty of intelligent wheelchair in narrow spaces and presents a kind of navigation strategy based on geometrical analysis. The running conditions of the intelligent wheelchair are divided into two types: the corridor type and the pass-door type respectively, and the path tracking strategy is realized by feedback linearization method. Experiments show that the proposed navigation strategy can work quite well for turning around a corridor corner and passing through a door