h 上游充通大学 1.Introduction 后 Shanghai Jiao Tong University Wheelchair/wheelbench typed robots @ Researchers from Chongqing University of Posts and Telecommunications (Y. Zhang et al.and Y.Chen et al.)also developed a similar intelligent wheelchair as Shanghai Jiao Tong University,which could also realize self-localization and navigation in an indoor environment. The smart wheelchair from Chongqing University of Posts and TelecommunicationsShanghai Jiao Tong University Wheelchair/wheelbench typed robots Researchers from Chongqing University of Posts and Telecommunications (Y. Zhang et al. and Y. Chen et al.) also developed a similar intelligent wheelchair as Shanghai Jiao Tong University, which could also realize self-localization and navigation in an indoor environment. The smart wheelchair from Chongqing University of Posts and Telecommunications 1. Introduction