A Real-Time Near Optimal Trajectory Planning and Control Scheme for Autonomous Wheelchair Evacuation Tasks

Motion planning and control of autonomous mobile robots (AMRs) have attracted widespread attention in recent years. As the problem of aging intensifies, it is significant to develop AMRs for the wellbeing of old people. In this paper, a novel long short-term memory (LSTM)-recurrent deep neural network (RDNN) based motion planning and control strategy with data aggregation mechanism is developed for autonomous wheelchairs (AWC) to send the seniors to the exit of the nursing home in a timely manner when emergencies happen. The proposed scheme is verified to be feasible, efficient and robust.