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Nowadays, elderly care are progressively becoming important and caregiving methods for elderly are also gradually changes along the problems concerned during the caregiving [1]. Basically, living with children or hiring caregivers at home are the methods of conventional elderly care. However, the children may not be at home 24 hours a day and hiring caregivers are costly. Therefore, there have been various initiatives in developing and promoting assistive healthcare systems such as an elderly monitoring system using robots [2]. Implementation of robotic technology is becoming an important research topic in various fields and applications especially in elderly care [3, 4]. Although robots are still unable to replace human caregivers, they can be useful support tool. For instance, in the condition where elderly living independently, they are exposed to dangerous situations such as fall hazards and even depressions which can lead to life-threatening situation. Therefore, it is necessary to have a system that can provide real-time monitoring or prompt notification solutions to inform caregivers or families on the well-being of elderly. Some companies had introduced elderly people monitoring and notification systems using home appliances such as hot water pot [5], house security alarm [6] and even electricity monitoring [7]. However, such systems have several Abstract: This work describes the preliminary design and development of a mobile robot called CREC (CameraBased Mobile Robot for Elderly Care). The robot uses a low-cost HC-SR04 ultrasonic sensor to avoid obstacle, and a Pixy CMUcam5 camera as the vision-based sensor to track the target. This camera uses colour marker tag to follow and monitor the target. CREC uses an Arduino UNO microcontroller to fuse data conveyed by the ultrasonic sensor and camera so that the robot can follow the target and avoid obstacles simultaneously. In this work, the hardware design of CREC is described. Furthermore, preliminary experiments to characterize the ultrasonic sensor and Pixy camera are demonstrated to verify the usefulness of the selected sensors for the mobile robot.

Development of a Mobile Robot with Camera-based Target Tracking and Obstacle Avoidance Systems