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We developed a wheelchair that could automatically take users to their destination, even for their first visit to a facility, to reduce their particular mental stress. The automatically guided (AG) wheelchair was developed based on open-source tools such as the Robot Operating Systems (ROS), which provided various useful and convenient libraries and tools. The AG wheelchair consisted of three functions: map detection, control and simultaneous localization and mapping (SLAM), and communication between a robot model created in Navigation Stack and the AG wheelchair. The map was successfully created with errors of ±7 cm, which was not considered a problem for actual use. Additionally, the AG wheelchair successfully took a user to a destination designated on a map under automatic operation. The AG wheelchair avoided not only the walls and pillars but also the obstacles that were excluded from the map information, with 30 cm of avoidance distance (i.e., safety margin). We achieved cost savings for all parts of the AG wheelchair, except the laser sensor. Because safety is the most important factor for actual use, the obstacle avoidance function must be improved in future works. Additionally, users' evaluation should be examined by visual-analog-scale and measuring their physiological parameters, e.g., brain activities and autonomic nervous system activities.

An Automatically Guided Wheelchair: Development of Automatic Map Creation and Navigation Systems Using Robot Operating System