The objective of this paper is to study the design characteristics more viable to build an autonomous vehicle for disabled people (AVD). In this paper, some components are examined for available options and how these options effect the performance of the vehicle. Besides, the dynamic model of a tricycle configuration of AVD is shown. The equations of motion governing the behavior of the vehicle are obtained with the Newton and Euler's equations. Through the dynamic equations, the analyses of dynamic stability and dirigibility for the configuration are made and compared with other configurations with different kinds of driving and steering. Considering the results of stability and dirigibility, a fuzzy controller for navigation and obstacle avoidance control is design. The fuzzy controller was simulated and the results indicate that it is better use the velocity control only on final approach to goal position. Copyright © 1997 Society of Automotive Engineers, Inc. Baxter, J.W., Bumby, J.R., Fuzzy control of a robotic vehicle (1995) Proceedings of Institution of Mechanical Engineers.- Part I: Journal of Systems and Control Engineering, 209, pp. 79-91Becker, M., (1997) Robôs de Locomoção: Formas Construtivas, Dirigibilidade e Controle (In Portuguese), , Ms. Thesis, UNICAMP, Campinas, SP, BrazilBecker, M., Dedini, F.G., Proceedings of SAE BRAZIL 96 - V International Mobility Technology Conference and Exhibit, Paper Number 962329 P (1996) Contribuição Ao Projeto de Robôs Moveis Autonomos (In Portuguese), , São Paulo - SP. BrazilBolmsjö, G., Robotics in rehabilitation (1995) IEEE Trans. Rehabilitation Engineering, 3 (1), pp. 77-83Bourhis, G., Pino, P., Mobile robotics and mobility assistance for people with motor impairments: Rational justification for the VAHM project (1996) IEEE Transactions on Rehabilitation Engineering, 4 (1), pp. 7-12. , DOI 10.1109/86.486052Cappozzo, A., Prediction of ramp tranversability for wheelchair dependent individuals (1991) Paraplegia, 29, pp. 470-478Chang, C., Lee, T., Stability analysis of three and four wheel vehicles (1990) JSME International Journal, 33 (4), pp. 567-574. , serie IIICooper, R.A., MacLeish, M., Racing wheelchair roll stability while turning: A simple model (1992) Journal of Rehabilitation Research and Development, 29 (2), pp. 23-30Gilsdorf, P., Patterson, R., Fisher, S., Appel, N., Sitting forces and wheelchair mechanics (1990) Journal of Rehabilitation Research and Development, 27 (3), pp. 239-246Huston, J.C., Three wheeled vehicle dynamics (1982) SAE Transactions, 91, pp. 591-604. , Paper Number 820139Kawamura, K., Intelligent robotic systems in service of the disabled (1995) IEEE Trans. Rehabilitation Engineering, 3 (1), pp. 14-21McLaurin, C.A., Brubaker, C.E., Biomechanics and the wheelchair (1991) Prosthetics and Orthotics International, 15, pp. 24-37Napper, S.T., Seaman, R.L., Applications of robots in rehabilitation (1989) Robot. Autonom. Syst., pp. 227-239Raman, A., Overturning stability of three wheeled motorized vehicles (1995) Vehicle System Dynamics, 24, pp. 123-144Todd, B.A., Thacker, J.G., Three-dimensional computer model of the human buttocks, in vivo (1994) Journal of Rehabilitation Research and Development, 31 (2), pp. 111-119Wakaumi, H., Development of an automated wheelchair guided by a magnetic ferrite marker lane (1992) Journal of Rehabilitation Research and Development, 29 (1), pp. 27-34Wellman, P., Design of a wheelchair with legs for people with motor disabilities (1995) IEEE Trans. Rehabilitation Engineering, 3 (4), pp. 343-353Yoder, J.-D., Baumgartner, E.T., Skaar, S.B., Initial results in the development of a guidance system for a powered wheelchair (1996) IEEE Transactions on Rehabilitation Engineering, 4 (3), pp. 143-151. , DOI 10.1109/86.536769