Robot Wheelchair Convoys for Assistive Human Transportation

We present AirChair, a semi-autonomous human transportation system composed of multiple wheelchairs operating as a convoy. The first wheelchair follows an on-foot human guide, the second wheelchair follows the first, and so on. Each wheelchair independently tracks its target with the help of an RGBD camera, and performs motion planning to follow along while steering clear of obstacles. The guide manages the convoy through a mobile control interface, allowing them to intervene as needed to ensure passenger safety. The effectiveness of combining automation technologies with an engaged operator is demonstrated by experiments in uncontrolled, real-world environments, which also suggest directions for further development.