Vision-based Control of a Smart Wheelchair for the Automated Transport and Retrieval System (ATRS)

Abstract — In this paper, we present a novel application of vision-based control for autonomously docking a wheelchair onto an automotive vehicle lift platform. This is a principal component of the Automated Transport and Retrieval System (ATRS)- an alternate mobility solution for drivers with lower body disabilities. The ATRS employs robotics, automation, and machine vision technologies, and can be integrated into a standard minivan or sport utility vehicle (SUV). At the core of the ATRS is a “smart ” wheelchair system that autonomously navigates between the driver’s position and a powered lift at the rear of the vehicle- eliminating the need for an attendant. From an automation perspective, autonomously docking the wheelchair onto the lift platform presented perhaps the most significant technical challenge for the proof-ofconcept ATRS. Our solution couples vision-based localization for feedback with a hybrid control approach employing input/output feedback linearization techniques. We present significant simulation and experimental results which show that reliable docking can be achieved under a range of illumination conditions. Index Terms — ATRS, smart wheelchair, vision-based control I