Design and Construction of an Automatic Transport System Inside the Home for People with Reduced Mobility

In this paper the development of a mechatronics system which is able to navigate autonomously inside homes is presented. In order to do it, a study of SLAM and EKF-SLAM implemented on similar systems was realized. A modular mechatronics system capable of being adapted to any standard wheelchair. This mechatronics module consists of a Raspberry Pi platform, which receives the data from the laser sensor to realize the autonomous navigation. The EKF-SLAM technique using only data coming only from the laser sensor, meaning that no additional sensors where used to do odometry. The system is capable of transporting people with reduced mobility due to their age or disability. The maximum user mass that the system can carry in order to work for an hour is 90 Kg.