An automatic wheelchair locking system including: a first lock for a first wheel； a first persistent driver configured to engage and disengage the first lock； at least one processor configured to control the first persistent driver； and a memory having stored thereon instructions that, when executed by the at least one processor, control the at least one processor to: in response to receiving instructions to disengage the first lock while the first lock is engaged, control the first persistent driver to disengage the first lock； and in response to receiving instructions to engage the first lock while the first lock is disengaged, control the first persistent driver to engage the first lock.
