Chapter 47 — Motion Planning and Obstacle Avoidance

Sena wheelchair: Autonomous navigation at University of Malaga (2007)

This experiment demonstrates how a reactive navigation method successfully enables our robotic wheelchair SENA to navigate reliably in the entrance of our building at the University of Malaga (Spain). The robot navigates autonomously amidst dozens of students while avoiding collisions. The method is based on a space transformation, which simplifies finding collision-free movements in real-time despite the arbitrarily complex shape of the robot and its kinematic restrictions.
Jose Luis Blanco