Abstract

The ideas shown in this paper have been developed having in mind the main goal of designing a completely autonomous wheelchair prototype. The state of the art of mobile robotics is compared with the new trends in the field. The idea of autonomy made us focus our research in extracting the best from conventional Intelligent Mobile Robots techniques, looking towards the concept of Autonomous Mobile Systems (AMS). In order to clarify the body of the presentation, some practical examples, developed at our laboratory (DISAM-UPM), are included in parallel with the main discourse.

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