This paper makes a contribution to the field of autonomous vehicles, especially for use on assistive wheelchairs. The aim of our work consists in the development of a low-cost autonomous wheelchair able to avoid obstacles, self-localize and explore closed environments in a safe way. In order to meet disabled people's requirements, we have designed our system in such a way that it can be simply modified and adapted to the users' needs. In particular, the user has the opportunity to choose among several autonomy levels and three different interfaces: a joystick, a touch-screen and a brain-computer interface (BCI). A BCI is a system that allows users to convey their intention by analyzing their brain signals.