This paper proposes a solution to the cross-a-door problem in unknown environments for a robotic wheelchair commanded through a Human-Machine Interface (HMI). The problem is solved by a dynamic path planning algorithm implementation based on successive frontier points determination. An adaptive trajectory tracking control based on the dynamic model of the robotic wheelchair is impleme... https://www.bekindtopets.com/limited-value-SharkBite-U648LF-Lead-Free-Brass-Push-to-Connect-45-Degree-Elbow-1-2-x-1-2-mega-super/