Navigation systems for increasing the autonomy and security of mobile bases for disabled people

Abstract

A navigation module for technological aids for the disabled user is presented. Usability and acceptability criteria are considered in the design of this module. Different levels of autonomy for the navigation module are considered for allowing an active interaction of the user with the technological aids. A standardized protocol for the integration of input-output devices for robotic assisted systems is also used. The navigation module is tested on an powered wheelchair and an autonomous mobile base. The sonar sensors are used for online detection of possible obstacle collisions. The reliability of sonar readings is increased by the use of a probabilistic map of the environment to support the decisions on obstacle detection.