The robotic wheelchair of UFES/Brazil provides an autoguided option to the user for indoor environment navigation, focused on autonomously solving complex maneuvers that would require too much effort from the user, especially for highly dependent ones. Additionally, the autonomous driving option of the robotic wheelchair can also be used when the user wants to reach a given location within the environment in a short time. Thus, the main aim of this mode is to minimize both the user’s effort and a collision risk. The way the autonomous navigation mode is implemented on the navigation system of the wheelchair was previously shown in Figure 3.1.