Trajectory Control of an Autonomous Systemdedicated to Assisted Living

In this paper a method of controlling a wheelchair using the video stream from two cameras is proposed. The cameras are placed on the side of the wheelchair having as main purpose to detect the edge between the floor and the wall. The images obtained are processed, thus obtaining an inclination angular error and a lateral errorfrom the desired trajectory, which is considered at the middle of the distance between the two lateral references. With the combined information from the camera and from the sensors conveniently placed on the system, the navigation inside a building with corridors delimited either by walls, by lines or by transitions is achieved.