Sensor-based dynamic trajectory planning for smooth door passing of intelligent wheelchairs

Sen Wang, Ling Chen, Huosheng Hu, Klaus McDonald-Maier

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


Traditionally, it is difficult for elderly and disabled people to control a wheelchair passing a narrow doorway manually. This paper presents a dynamic trajectory planning algorithm for wheelchairs to pass a door smoothly and automatically. It is a sensor-based approach in which two laser rangefinders are deployed in the wheelchair for real-time door detection. To generate smooth trajectories that enable a wheelchair to pass a door perpendicularly, Bézier curve based trajectories are calculated repeatedly during the whole course of door passing. The proposed approach is tested on a real wheelchair and the experimental results are presented to show the good performance and effectiveness of our proposed automatic door passing strategy.
Original languageEnglish
Title of host publicationComputer Science and Electronic Engineering Conference (CEEC)
Place of PublicationPiscataway (New Jersey)
Number of pages6
ISBN (Electronic)978-1-4799-0383-2
ISBN (Print)978-1-4799-0382-5
Publication statusPublished - 11 Nov 2013


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