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We show a control algorithm to guide a robotic walking assistant along aplanned path. The control strategy exploits the electromechanical brakesmounted on the back wheels of the walker. In order to reduce the hardwarerequirements we adopt a Bang Bang approach relying of four actions (withsaturated value for the braking torques).When the platform is far away from thepath, we execute an approach phase in which the walker converges toward theplatform with a specified angle. When it comes in proximity of the platform,the control strategy switches to a path tracking mode, which uses the fourcontrol actions to converge toward the path with an angle which is a functionof the state. This way it is possible to control the vehicle in feedback,secure a gentle convergence of the user to the planned path and her steadyprogress towards the destination.

Hybrid Feedback Path Following for Robotic Walkers via Bang-Bang Control Actions