Intelligent wheelchair is a paradigm of assisted living applications for elderly and disabled people. Its autonomous navigation and human-robot interaction is the major challenge. The previous intelligent wheelchair research has been mainly focused on geometric map based navigation, which is computational expensive in a large scale environment. This paper proposes the use of multi-layered maps for navigation and interaction of an intelligent wheelchair. The semantic information can improve the

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... fficiency of path planning and navigation as well as extend the capability of task planning for the wheelchair. Some experimental results are given to demonstrate the feasibility and performance of the proposed approach.