Robotic device for mobility assistance to elderly people in urban environments

摘要

This work presents the development of a navigation algorithm based on fuzzy logic for the displacement of a mobile robot. The goal is to develop an autonomous navigation for an assistance mobility device for elderly people. The robot, which is the base of the robotic device, must be able to autonomously navigate in an unstructured environment, guiding the user to a target, avoiding possible obstacles that could cause the fall of the user. Navigation should be in a smooth and natural way for the user, so that the device itself will not make the user miss the balance. This work was developed in a virtual environment through Stage simulator integrated with robotics framework Player.