A shared control solution for safe assisted power wheelchair navigation in an environment consisting of negative obstacles: a proof of concept

Power wheelchairs allow people with motor disabilities to have more mobility and independence. However, driving safely such a vehicle is a daily challenge particularly in urban environments while navigating on sidewalks, negotiating curbs or dealing with uneven grounds. Indeed, differences of elevation have been reported to be one of the most challenging environmental barrier to negotiate, with tipping and falling being the most common accidents power wheelchair users encounter. It is thus our challenge to design assistive solutions for power wheelchair navigation in order to improve safety while navigating in such environments. To this aim, we propose a shared-control algorithm which provides assistance while navigating with a wheelchair in an environment consisting of negative obstacles. We designed a dedicated sensor-based control law allowing trajectory correction while approaching negative obstacles e.g. steps, curbs, descending slopes. This shared control proposed method takes into account the human-in-the loop factor. In this study, our solution the ability of our system to ensure a safe trajectory while navigating on a sidewalk is demonstrated through simulation, thus providing a proof-of-concept of our method.