Kinect Based Intelligent Wheelchair Navigation with Potential Fields

Creative Commons License

Ozcelikors M., Coskun A., Say M. G., YAZICI A., Yayan U., Akcakoca M.

IEEE International Symposium on Innovations in Intelligent Systems and Applications (INISTA), Alberobello, Italy, 23 - 25 June 2014, pp.330-337 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/inista.2014.6873640
  • City: Alberobello
  • Country: Italy
  • Page Numbers: pp.330-337
  • Eskisehir Osmangazi University Affiliated: Yes


Increasing elderly people population and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important role on improving the lives and mobilization of people with disabilities. Moreover, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, Finite state machine (FSM) based high-level controller and Kinect based navigation algorithm have been developed for ATEKS (Intelligent Wheelchair) which has high-tech control mechanisms, low-cost sensors and open source software (ROS, GAZEBO, ANDROID).