Abstract
This research presents the design, development, and evaluation of a low-cost autonomous wheelchair prototype aimed at improving mobility, independence, and quality of life for individuals with physical disabilities. Motivated by the limitations of traditional wheelchairs and the inaccessibility of high-end autonomous models due to cost, the study proposes an affordable solution by integrating reclaimed hoverboard components—including brushless motors, battery systems, and electronic speed controllers—with a custom-built structural frame made from lightweight PVC materials. The prototype incorporates advanced navigation and safety features, such as a 2D LiDAR sensor and ultrasonic sensors, managed via Arduino microcontrollers and operated through a dual-mode interface (joystick and touchscreen). A Robot Operating System (ROS)-based architecture facilitates autonomous path planning, obstacle detection, and collision avoidance. The research employed a structured methodology, including component selection, 3D modeling using Autodesk Inventor, simulation, prototyping, and extensive experimental testing. Tests conducted in simulated indoor environments demonstrated the prototype’s ability to autonomously navigate narrow spaces, traverse obstacle bumps up to 40 mm, and avoid collisions, achieving a path and time optimality ratio of 1.03. Ultrasonic sensors achieved over 96% accuracy in obstacle detection at short to medium distances. The integration of hoverboard technology significantly reduced the overall cost while maintaining operational reliability. The study concludes that autonomous wheelchair mobility solutions can be made more accessible to economically disadvantaged users without compromising safety or functionality. It provides a practical and scalable assistive technology framework suitable for deployment in homes, hospitals, and public facilities, especially in low-resource settings.