معماری کنترل واکنشی برای ناوبری مستقل از ربات موبایل

This paper mainly contributes in the achievement of a new control architecture designed for an electric wheelchair moves in a three-dimension (3D) indoor environment. This control system aims to provide autonomy to all disabled people. Even if we confine ourselves to a wheelchair, this work contributes to the field of mobile robotics with the proposed reactive control architecture based on a set of reactive behaviours, which operate in parallel and result rapid solution in a cluttered environment. Various automatic operations were planned during the design of this architecture, such as wheelchair goal tracking in free environment, perception, avoiding unplanned 3D obstacles and wheelchair hybrid localization. The conducted experiments demonstrates the performance of the proposed reactive control architecture for a wheelchair.