The invention discloses an ROS-based intelligent wheelchair with an autonomous navigation function, belongs to the field of robots, and includes three parts, i.e., a single-chip microcomputer lower computer system, an ROS upper computer system and a robot hardware platform. The single-chip microcomputer lower computer system part includes a single-chip microcomputer, an encoder, an ultrasonic distance sensor, an accelerometer gyroscope, an electronic compass, a motor, a drive and other modules, and the ROS-based upper computer system includes an industrial control computer running the ROS, a Kinect camera, a handle and a mobile phone app. The industrial control host and the single-chip microcomputer are connected through a USB. The ROS-based robot autonomous navigation system provided by the invention achieves functions of interactive operation, path planning and navigation through the industrial control host, controls a robot (wheelchair) to move through the lower computer and can avoid obstacles in time, improves response speed of the robot (wheelchair) and can complete positioning and navigation.