Robotic Wheelchair Nvidia-Isaac Simulation/Validation

Clemson University, International Center for Automotive Research (CU-ICAR), Department of Automotive Engineering.

Authors: Amogh V. Reddy and Zongming Yang and Bing Li (AutoAI Research Lab, Email: bli4@clemson.edu)

• Venkataramana Reddy, Amogh, "Virtual Prototyping and Validation for Autonomous Assistive Mobility" (2023), Clemson University Master Thesis: https://tigerprints.clemson.edu/all_theses/4146
• Yang, Zongming, Bing Li et al. "SeeWay: Vision-Language Assistive Navigation for the Visually Impaired." IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2022. Best Paper Finalist.

wheelchair-navi repo

The repository has the files and informatimn needed to perform autonomous navigation for a wheelchair using a ZED2i camera in simulation using the Nvidia Isaac Sim tool and on a real robot.

The folder "Omniverse" contains the necessary information to set up the wheelchair simulation in Isaac Sim.

Demo video

Autonomous wheelchair simulation and demo in:

• Nvidia-Isaac
• ROS and navigation test in the CU-ICAR Lab.

(Click below to view the demo in YouTube)