Mobility Assist: Enhancing Accessibility with Semi-Autonomous Wheelchair Attachment

The proposed system develops a multi-control, semi-autonomous wheelchair attachment that assists the mobility of individuals facing severe physical disabilities. The system consists of multiple control options, such as voice commands, gesture control, manual joystick input, and android application controls. The attachment uses Jetson carrier and ESP32 modules and incorporates 2D LIDAR for mapping and navigation which enhances movement and user safety in an indoor environment. The semi-autonomous mode provides a reliable solution for obstacle detection and avoidance which enhances the mobility of the wheelchair significantly.