On-Line Collision-Avoidance for a Robotic Assistance System

Abstract The navigation system of a robotic system for assistance to disabled, handicapped or elderly people is described in this paper. In particular, two different collision avoidance procedures are designed, a semi-automatic one and a fully automatic one. The first procedure is going to be used in the framework of the MOVAID project for taking into account the peculiar needs of the users. The fully automatic procedure is meant to be used for increasing the number of potential users of the assistance system. Both the procedures constitute valuable alternatives for the navigation system, as resulting from simulations and experiments, whose results are reported in the paper.