Enhancing Elderly Mobility with a Quadruped Robot-Led Wheelchair System Based on MPC*

This research addresses an approach to enhancing mobility for the elderly through robotic wheelchairs, with a focus on autonomous navigation in crowded urban environments. The core of the study is the development of a guiding system wherein a robotic dog leads a wheelchair, aiming to diminish the need for human assistance. This system leverages a hierarchical control mechanism that integrates Model Predictive Control (MPC) and PID control to ensure safe and efficient navigation. Specifically, the MPC is employed within the robotic dog to facilitate advanced obstacle avoidance and path planning, enabling it to navigate complex environments effectively. Concurrently, the PID controller is tasked with maintaining a stable distance between the wheelchair and the robotic dog, ensuring the wheelchair follows the path set by its guide without deviation. This integration of technologies represents a practical solution, offering the elderly indenendence.