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Many people who are mobility impaired are, for a variety of reasons, incapable of using an ordinary wheelchair. In some instances, a power wheelchair also cannot be used, usually because of the difficulty the person has in controlling it (often due to additional disabilities). This paper describes two lowcost robotic wheelchair prototypes that assist the operator of the chair in avoiding obstacles, going to pre-designated places, and maneuvering through doorways and other narrow or crowdeddoi:10.1007/bf00735440 fatcat:ya3xwz2x6za5vj3jpjwwza5vam