Computer-controlled power wheelchair navigation system

A wheelchair navigation system comprising:

• a motorized wheelchair;
• at least one battery;
• a battery charger;
• a filter-based estimator with interface software;
• a computer including a control system, said control system controlling operation of said wheelchair by selection of a taught destination from a plurality of taught destinations corresponding to a specific position and orientation of said wheelchair at a predetermined given location of said wheelchair;
• at least one camera;
• at least one proximity sensor;
• at least one microphone;
• at least one rotation sensor for the wheels, said at least one sensor is mounted on the wheelchair;
• and
• a plurality of visual markers capable of being placed on the walls of a specific location.

A method of navigation using a powered wheelchair comprising the steps of:

• providing a motorized wheelchair, said wheelchair being powered by at least one onboard battery, and a battery charger and having dual cameras, proximity sensors, a microphone and rotation sensors for sensing wheel rotation;
• providing a filter-based estimator with interface software running that is operated on at least one computer including a control system, said control system controlling operation of said wheelchair by selection of a taught destination from a plurality of taught destinations corresponding to a specific position and orientation of said wheelchair at a predetermined given location of said wheelchair;
• providing markers at various locations within a specific area;
• teaching at least one path by walking said wheelchair through said at least one path prior to said wheelchair navigation system being used for independent travel, and recording said at least one path in said computer;
• sensing said markers with said proximity sensors and said cameras;
• providing information about said markers from said proximity sensors and said cameras to said at least one computer;
• operating said software to determine the location of various objects within a location;
• creating a path for said wheelchair to avoid said objects with said software;
• recalling said at least one taught path;
• and
• directing said wheelchair on said path via said software.