Publication

Abstract : In this research work a self-driving wheelchair Self-E is designed and implemented. The wheelchair can be used for indoor navigation and it can help elderly and differently abled people on a day-to-day life. With an Android app developed for Self-E, the user can specify destination coordinates just by touching on the screen of his/her electronic gadget. It takes the user to the destination without the need for continuous control like using joystick till the destination is reached. The research involves the dynamic modelling, design, simulation of the model in ROS Gazebo, implementation and testing of the wheelchair. With extensive experiments that demonstrate the performance and accuracy of the system, testing with patients, and users experience indicate that Self-E could be a better option compared to a joystick controlled powered wheelchairs for certain category of users.