Global and Local Path Planning on Robotic Wheelchair Based on Multi-Sensor Information Fusion

This paper represented the method of obstacle avoidance for robotic wheelchair based on the multi-sensor information fusion. The installing angle of sensor was analyzed. Path planning was discussed in global or local environment separately. Dijkstra algorithm and fuzzy control algorithm were proposed to solve the problem of global and local path tracking. The simulation had provided an easy-used method for designing and validating the algorithms.