Control of Mobile Platforms as Robotic Assistants for Elderly

This paper describes an experiment aimed to demonstrate that a distributed system of embedded microcontrollers, wherein a number of control modules are located on the mobile robot, while others are deployed in an "intelligent environment" can significantly reduce the cost of developing a robotic assistant for the elderly and disabled. The structure of the experimental setup is described in detail, as well as the main algorithms used for each individual task: path following, obstacle avoidance, data acquisition. In the experiment described, didactic mobile robots (Pioneer3-DX and PeopleBot, from MobileRobots) were used, but the entire solution can be easily ported for the implementation of an intelligent wheelchair, capable either to carry an elderly or disabled person, or to move independently in a smart environment, as a sensorial extension of the assisted individual.