In last few years assistive wheelchairs or autonomous robots have become more important. This work deals with an autonomous indoor navigation system for a wheelchair, especially with local path planning. In particular, it is concerned with the different types of trajectories. For this wheelchair, a type with high driving comfort is required. Achieving this objective involves the usage of a clothoid as trajectory. In the course of this work, three different types of clothoids will be explained and discussed. For the high-level navigation, a modified Dijkstra algorithm is used. Further, the...