A Driving Behaviour Model of Electrical Wheelchair Users

Table 1

Comparison of the potential field modifications based on their applicability in the formulation steering behaviour of wheelchair users.

	APF	EAPF	PEAPF	BPF	DPF
Smooth planning	✓	✓	✓	✓	✓
Local planning	✓	✓	✓	✓	✓
Global planning		✓	✓	✓
Complex environments			✓	✓	✓
Highly scalable			✓	✓	✓
Directionality					✓
Min. computational time					✓