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Local maneuvers planning: application to an autonomous wheelchair moving in constrained spaces

The problem approached in this paper is the simulation of maneuvers planning for an autonomous mobile robot moving in constrained spaces free of obstacles. The robot treated is an autonomous wheelchair for the disabled. Our approach is based on the principle that a maneuver is the concatenation of elementary moves with reversal. So, to perform a maneuver that enables reaching a final state, we have defined five elementary moves. The developed planner is built around a perception system, a guidance system and a locomotion system. Each elementary move is implemented using a fuzzy controller.