Rule-based system to assist a powered wheelchair driver

Some rule based techniques are presented to assist powered wheelchair drivers. A driver is included as much as possible while a sensor system assists by avoiding obstacles and tending to turn to point towards a specified destination. A generated angle to turn towards the destination of the wheelchair is added as an extra input. Other inputs are from a joystick and from sensors. Recommended directions are suggested and they are mixed with speed and direction inputs from the joystick. An angle to turn the powered wheelchair is suggested by the rule-based system. The suggested angle is then mixed with the other inputs from the sensors and the joystick. A revised direction for the wheelchair is generated and that helps a wheelchair user to drive their powered wheelchair.