Optimized obstacle avoidance trajectory generation for a reconfigurable staircase climbing wheelchair

This paper describes the mechanical devices, the control scheme and the trajectory generation of which a new wheelchair prototype capable of climbing staircases is formed. The key feature of the mechanical design is the use of two decoupled mechanisms in each axle, one to negotiate steps, and the other to position the axle with regard to the chair in order to accommodate the overall slope. This design simplifies the control task substantially....