In order to provide autonomous mobility, a robotic wheelchair,requires various tasks such as sensing, localization, obstacle detection, and motor control, which is a very complex control system. In this paper, we present a real-time control system design for robotic wheelchairs based on RTAI. We developed a multiprocessor-based robotic wheelchair platform for the disabled. Based on discussions on real-time requirements of robotic wheelchairs, we designed an efficient software architecture for autonomous real-time control of robotic wheelchairs. The performance is revealed by experimental results carried out at the Intelligent Sweet Home in KAIST.

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