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Adaptive Navigation Control of an Active Smart Walker

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Robotics in Natural Settings (CLAWAR 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 530))

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Abstract

The rapid increase of elderly population all over the world has determined an enhanced attention to their needs: among the others, mobility is one of the most important human skills to support. In this work we propose a prototype of an active smart walker featuring obstacle avoidance and autonomous navigation capabilities, which is meant to assist the elderly people during the walk. The proposed system is able to plan and move in a known environment, adapting its behavior according to the presence of the user. The proposed solution has been widely tested in its different operating modes in a real setting.

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Notes

  1. 1.

    http://wiki.ros.org/navfn.

  2. 2.

    http://wiki.ros.org/gmapping.

  3. 3.

    https://youtu.be/cRwUxL_2V9U.

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Author information

Authors and Affiliations

  1. Dipartimento di Ingegneria Elettrica Elettronica e Informatica, University of Catania, Catania, Italy

    Andrea Borgese, Dario C. Guastella, Giuseppe Sutera, Alessia Biondo & Giovanni Muscato

  2. Istituto di Calcolo e Reti ad Alte Prestazione, Consiglio Nazionale delle Ricerche, Palermo, Italy

    Giovanni Muscato

Authors
  1. Andrea Borgese
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  2. Dario C. Guastella
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  3. Giuseppe Sutera
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  4. Alessia Biondo
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  5. Giovanni Muscato
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Corresponding author

Correspondence to Dario C. Guastella .

Editor information

Editors and Affiliations

  1. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    José M. Cascalho

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Armando Mendes

  5. Mechanical, Materials and Manufacturing Engineering (M3), Faculty of Engineering, University of Nottingham, Nottingham, UK

    Khaled Goher

  6. Faculty of Sciences and Technology, University of the Azores, Ponta Delgada, Portugal

    Matthias Funk

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Borgese, A., Guastella, D.C., Sutera, G., Biondo, A., Muscato, G. (2023). Adaptive Navigation Control of an Active Smart Walker. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_54

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