In this research work a self-driving wheelchair Self-E is designed and implemented. The wheelchair can be used for indoor navigation and it can help elderly and differently abled people on a day-to-day life. With an Android app developed for Self-E, the user can specify destination coordinates just by touching on the screen of his/her electronic gadget. It takes the user to the destination without the need for continuous control like using joystick till the destination is reached. The research involves the dynamic modelling, design, simulation of the model in ROS Gazebo, implementation and testing of the wheelchair. With extensive experiments that demonstrate the performance and accuracy of the system, testing with patients, and users experience indicate that Self-E could be a better option compared to a joystick controlled powered wheelchairs for certain category of users.

在这项研究工作中，设计并实施了自动驾驶轮椅 Self-E。轮椅可用于室内导航，它可以帮助老年人和不同能力的人的日常生活。通过为 Self-E 开发的 Android 应用程序，用户只需触摸他/她的电子设备的屏幕即可指定目的地坐标。它将用户带到目的地，而无需像使用操纵杆那样连续控制直到到达目的地。研究涉及ROS Gazebo中模型的动态建模、设计、仿真、轮椅的实现和测试。通过大量实验证明系统的性能和准确性，对患者进行测试，