Pathplanning isa complicated and global planning byindicating wheres/he wantstogoand challenge problem inmobile robotics ifamobile robot is how togothere, andthewheelchair avoids dangerous expected operated intherealworld. Human-Machine obstacles andperforms local planning autonomously (18). Interaction (HMI)couldplayanimportant roleinthis Smoothpathplanning isnecessary forwheeled mobile process andtherobotcangethelpfromtheuserduring robots tomovearound intheir surroundings. Thisissue isa pathplanning. Inthis paper, weintroduce asmoothpath widely studied research topic (10)>(14). A large numberof planning methodforan intelligent wheelchair (IW) strategies havebeendeveloped forall kinds ofenvironments. basedonHMI.Theuserfirst presents somekeypoints Mostofthese studies focus onreaching acertain goal point ona knownenvironment maptothesystemviaHCI. inagiven environment along asmooth path withcontinuous Thenthesekeypoints willbeusedby IW aspath curvature while avoiding collisions ontheway.A typical skeleton points forgenerating a smoothcollision-free example isarobot inindoor environments fulfilling start- path. Underthecooperation oftheuserandIW,smooth and-end typemissions without humaninteraction (10)(11). pathplanning becomes easyandconvenient. SimulationHowever, intheresearch field ofintelligent wheelchair, HCI results showthattheproposed methodworkswelland mustbeconsidered andincorporated carefully. Thegoalof veryconvenient fortheuser. ~~~~to smooth thepath sothat thewholepath hascontinuous technology isable toplay avital role intheimprovement of tospeeds ptho gaat thecomoditherunning fuur helhcr sevc iouscet. Moeseifcly control speeds toguarantee thecomfort during therunning future healthcare service inoursociety. Morespecifically, poesfthwelcar IW,asakindofrehabilitation robots, plays animportantThecest ofthipairg role inhelping thehandicapped andelderly people tolive hanalyses theknematics modelofourwheelchair forsmooth independently athomeandhavealowcost healthcare. athplanning. athe posedp heplaing meth Various research projects onIWshavebeenfunded and detailednin Theproposed pathplanntng methodiS carried outed inthelast decade, suchasWheelesley (2),
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